Add a sensor to the UR10

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Hello Dear Users,

I am trying to add a Hokuyo sensor to the UR10 Robot Model, then to be able to load that model in Rviz and simulate it in gazebo.

QUESTIONS:

1)Which Files to modify? 2) What Code to add? 3) How to open it up in Rviz move it and see the Simulation in Gazebo.

I have installed the package Universal_Robot that ROS offers us however i want to modify the model by adding a sensor.

The tutorial pr2_robot isnt helping me!

Best of Wishes