how to do slam with a custom robot in Gazebo?

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Hi everyone,

I'm trying to build a map using SLAM(gmapping) and my own (virtual) robot which is equipped with a hokuyo LRF under Gazebo, i have looked around but could not find a tutorial on how to do this. for example

http://wiki.ros.org/robotino_navigati... http://wiki.ros.org/turtlebot_navigat...

these tutorials don't explain how to do it with a customized robot.

my question is how do i obtain the laser scan data and pass it to the corresponding listener? I've noticed in some tutorials it is published by a topic named /base_scan,which does not appear when i load the model into the Gazebo environment.

Any suggestions or help will be much appreciated. Thanks!