def METHOD_NAME(self, msg):
    self.blueview_ranges_pub.publish(
        BlueViewPing(
            header=msg.header,
            bearings=[
                (msg.angle_min + i * msg.angle_increment)
                for i in range(len(msg.ranges))
            ],
            ranges=msg.ranges,
            intensities=[
                np.uint16(x) if not math.isinf(x) else 0 for x in msg.ranges
            ],
        )
    )