How to read and visualize lidar data with MAVSDK

Hello everyone,
As mentioned above, I would like to read and visualize lidar data from gazebo using MAVSDK, I saw that using rviz and MAVROS people achieve this. Is there any way I can do the same with MAVSDK.

I am really new to PX4 firmware, any help would be appreciated.
Thank you in advance.

If you want to use rviz I would just use MAVROS as that would be the easier way. Otherwise you’ll have to write something yourself.