title: How can I use a .URDF sensor on a .SDF robot on ROS and Gazebo?
body: <p>maybe it's a silly question but I am a beginner.</p>
  <p>I have a Firmware of a flight controller called PX4, here it is: <a href="https://github.com/PX4/PX4-Autopilot" rel="nofollow noreferrer">https://github.com/PX4/PX4-Autopilot</a>
  That Firmware contains SITL Gazebo tools so I can simulate in gazebo some models which are included in the Firmware in .sdf format. They are in Firmware/Tools/sitl_gazebo/models.</p>
  <p>I also have a laser sensor which is a Teraranger Tower Evo, which is a laser sensor and has a description for Gazebo in .URDF and .XACRO, here it is: <a href="https://github.com/Terabee/teraranger_description" rel="nofollow noreferrer">https://github.com/Terabee/teraranger_description</a></p>
  <p>So, the idea is to join the sensor to one of those robots but I can't find how to do it.
  Even I am not able to spawn the sensor in gazebo as standalone model or read data from it (I think it is because I am not spawning it correctly). I did a launcher to spawn a urdf model, it is added to gazebo but not the mesh and it does not do anything.</p>
  <p>What occurred to me is to add laser sensors that behave as similar as possible to the one I want to use, but that would be in case I can't add the original one.</p>
  <p>Thank you very much!</p>