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I have the same problem and to me the solution is something about sync!!
I'm using two different computers, one with roscore and another running the LIDAR.
The computers have about 10 seconds out of sync, so with some tricks I solved it!
You can verify your current time with this command: (do this on both computers)
timedatectl
To correct the time delay between then, do the follow:
Disable the ntp service to update
sudo service ntp stop
Update
sudo ntpdate 0.ubuntu.pool.ntp.org
Enable again
sudo service ntp start
Do this on both computers
Maybe its not necessary to start and stop
Verify again if the time are now ok
timedatectl
The TIME OUT error that the message said it's a fake time out. Your messages are Ok but with wrong timestamps, so the program understands that, in my case, the message takes 10 seconds to get the other computer!
If it is your case, you can get some explanations over the topic 5 in this link about "timming issues" and how to solve it in another way: (using chrony and so far) http://wiki.ros.org/ROS/NetworkSetup
And here I got some hints about using ntp! https://askubuntu.com/questions/429306/ntpdate-no-server-suitable-for-synchronization-found
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