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lc = lcm.lcm.LCM.getSingleton();
msg = exlcm.example_t();
msg.timestamp = 0;
msg.position = [1 2 3];
msg.orientation = [1 0 0 0];
msg.ranges = 1:15;
msg.num_ranges = length(msg.ranges);
msg.name = 'example string';
msg.enabled = 1;
lc.publish('EXAMPLE', msg);