Laser sensor data in SITL


I am searching for the solutions how to publish data from sensors to RVIZ from model with hokuyo sensor. The problem that I am using SDF file, but I cannot get how to publish sensor topic that I could read it in RVIZ. I now that it is possible to use tf frames, but is it a good solution. I found that it is possible by editing a few lines in mavros launch files by using tf frames I can get data for example from IMU or local position. My purpose is to analyze data from sensor such as sonar, depth camera or lidar in rviz.

Solved this by creating a node for creating a new topic that takes different sensors data and publishes them with same frame id so I can work with SDF files and RVIZ