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How to put Hokuyo laser sensor on Grizzly?

Hi , I cloned the Grizzly simulator and run it on the Gazebo. now I want to add Hokuyo laser sensor on top of the Grizzly and get data from it, how can I do it properly?

i'm using ROS hydro and Gazebo 1.9 on Ubuntu 12.04 ( Should I upgrade to higher version?)

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