How to get colliding entities with gpu_lidar sensor (ray)

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Good morning, I open this question as I have not found a way to get the model_entity that collides with the gpu_lidar sensor.

I would like to be able to attach with such entity, but I can't know its name and location a priori. The only info I have is the relative distance from the lidar sensor msg.

Is there any way to get the first mesh to collide with the ray of the gpu_lidar and subsequently trace back to the link to create a detachable joint?