LIDAR 1D on IRIS/Gazebo SITL - possible to read value with Mavros?

Dear All

May be I am asking a naive question, but I would like to add a 1D Lidar pointing downward on the IRIS model available with Gazebo SITL and my question is: is it possible to create a connection with MAVLINK so that later on I will be able to read the value with Mavros (/mavros/distance_sensor/rangefinder_pub) ?
If so how to do it ?
Thank you for your help


@FaboNo Yes it is possible. You just need to spawn a target that has a lidar sensor on it. Please refer to this document on how to find the build targets