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2016-07-08 12:27:41 -0500 asked a question Example of a simple model with one 2D lidar and some obstacles for SLAM testing

Could you provide an example of model with only one sensor which can be moved and rotated in 2D and which measures distances to the obstacles. I've skimmed documentation to both gazebo and python bindings to it, but it is not clear how to achieve this. Any help would be much appreciated.