Ros Scan Topic generation by simulator

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I'm trying to follow some examples looking at the data generated by the Lidar on my simulated turtlebot.

From my investigation, I believe what I am looking for is a modification of one of these launch files: https://github.com/ROBOTIS-GIT/turtle...

The desired outcome is: the space with the hexagon of obstacles, plus a TB3 Robot simulator that subscribes to /cmd_vel topics, and that includes a simulated LIDAR data stream publishing /scan topics

Am I on the right track? And if so, how do I edit the launch file to achieve that?

THANKS!