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.