Using sick_safetyscanners/ExtendedLaserScanMsg in Gazebo Simulation

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Dear all,

I would like to have a Sick Laserscanner which actually publishes a sick_safetyscanners/ExtendedLaserScanMsg during a Gazebo Simulation. Is this acttually even possible? I actually thought about to write a node which converts the msg I get (sensor_msgs/LaserScan) into a sick_safetyscanners/ExtendedLaserScanMsg. The problem is that I actually need to call this node for every instance. Is it then possible to call this node from a gazebo xacro file?

Thank you very much in advance!

Best,

SK