Hi all, I am a student working on a robotics project. Due to COVID our project was moved to remote work. My group is looking to simulate a robot through ROS and Gazebo that originally was planned to fire small projectiles at targets it would find via CV while driving around an obstacle course.

We are making steady progress on modeling the robot in an SDF file and designing its motion algorithm in python, but are having trouble finding a suitable method for simulating the projectile shooting. Does anyone have recommendations on how to have either a projectile or a laser pointer coming from the robot so that we can simulate the shooting? We are using Gazebo 9 and ROS melodic. Thank you!