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SET-UP AND RUN SICK_TIM 551 with Rviz

I have a problem with the setup and start-up of my SICK TIM 551 scanner. I have already downloaded and installed the sick_tim package for ROS Kinetic. I'm using Ubuntu v 16.04. My goal would be to get a map of what the laser detects. EXAMPLE (taking the sensor in hand and turning in my room, I would like the latter to capture the shape of the room and show me in Rviz, being new to both Ubuntu and ROS would appreciate if someone could explain and help me in this project.

I thank you in advance for the various suggestions.