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Hi @harish556

In general, to add a sensor in Gazebo the key steps, I suggest to review the following tutorial: http://gazebosim.org/tutorials/?tut=add_laser

Specific for RPLidar A1, take a look at this tutorial: https://www.seeedstudio.com/blog/2018/11/09/rplidar-and-ros-the-best-way-to-learn-robot-and-slam/ Key steps: Adding to URDF file and adding static transform. There is also examples in this tutorial on how to use it.

For RealSense T265 there is prior answer that you can use as a reference: https://answers.ros.org/question/348331/realsense-d435-gazebo-plugin/

Hi @harish556

In general, first you need to learn how to add a sensor in Gazebo the key steps, Gazebo, I suggest to review the following tutorial: http://gazebosim.org/tutorials/?tut=add_laser

Specific for RPLidar A1, take a look at this tutorial: https://www.seeedstudio.com/blog/2018/11/09/rplidar-and-ros-the-best-way-to-learn-robot-and-slam/ Key steps: Adding to URDF file and adding static transform. There is also examples in this tutorial on how to use it.

For RealSense T265 there is prior answer that you can use as a reference: https://answers.ros.org/question/348331/realsense-d435-gazebo-plugin/