sonar sensor Gazebo-ROS

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Hello Team,

I am using the plugin hector_gazebo_ros_sonar.so of the package hector_gazebo_plugins but the performance is very bad.

My problem is describe here: link:here

I am looking for another sensor which works a little better. Anybody know another sonar sensor plugin?

It is to do a study to explain the best position of these sonar sensors around the robot vs Kinect in some cases.

Thanks a lot.