How to attach my lidar to a robot at an angle in gazebo?

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In gazebo, is there an easy way to attach my lidar model to an existing robot? What do I do if I need to attach the lidar at an angle? I followed this tutorial ( http://gazebosim.org/tutorials?tut=gu... ) to build my lidar model. I tried changing the pose of my revolute to be at an angle, but can't seem to be able to make the lidar turn say tilted at 30 degrees. Instead, when I change the pose, the axis is off-center. Alternatively, I tried to use the magnet in gazebo to snap my lidar to a robot. I have seen videos of people having their lidars at an angle, so there must be a way to do this. Can you recommend an approach to this?