I am simulating my drone using ardupilot_gazebo plugin provided by ardupilot in gazebo using ardupilot model iris drone.
Now I want to simulate drone with 2d lidar, can anyone have experience or have a supported model that I can simulate in gazebo or having a model with physics properties that support ardupilot plugins.
Or any other way I can simulate a 2d lidar on my drone.
Note:- I also want to use the data from 2d lidar for decisions.