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Best way is probably to use URDF and robot_state_publisher to define and publish your robot description, including sensor location, to tf.

Then, if you publish your sensor data using one of the message types with a built-in rviz display (e.g. PointCloud2, LaserScan) you will be able to easily visualize it on 3D.

Best way is probably to use URDF and robot_state_publisher to define and publish your robot description, including sensor location, to tf.

Then, if you publish your sensor data using one of the message types with a built-in rviz display (e.g. PointCloud2, LaserScan) sensor_msgs/Range) you will be able to easily visualize it on 3D.