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how can i send point cloud data from ROS to Gazebo or from RVIS to Gazebo in order to creat 3D Models in Gazebo?

I am publishing data (Position, Dimension, Orientation)for some objects from ROS Node to RVIZ in order to generate point clouds and it is working perfectly. Now I would like to send the same data (from ROS to Gazebo) or (from RVIZ to gazebo) to generate a world in Gazebo, and then generate a map using 3D-LIDAR.