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Yes, that's possible, you just have to add it to the URDF model and adjust your setup accordingly. A modified Turtlebot with a simulated Hokuyo UTM30-LX LIDAR mounted can be found in the hector_turtlebot repo. The LIDAR is added here in L20 of the turtlebot_sick_setup.xacro file. The simulated robot is spawned using the spawn_sick_robot_day_2014_setup.launch.

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