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If you are new to ROS, I would suggest working through all the beginner/intermediate tutorials to get a better idea about how ROS works. You do not need an intermediary publisher-subscriber, as your laserscan driver already publishes /scan, and costmap_2d will subscribe to /scan. The only reason to have a node in the middle would be to process the data in some way.

To get costmap_2d to subscribe to scan, you should read this tutorial.