How to simulate Imaging Forward Looking Sonar in Rviz
I am doing my project on ROS Melodic and trying to simulate my underwater robot using imaging FLS (Forward Looking Sonar) . But most of the references I have read use gazebo to simulate sonar, whereas I am working on Rviz. So, does anyone know how to simulate this type of sonar in RVIZ ? or does anyone know the mathematical model of this sonar ?