[ros-users] Gazebo

Hi everyone!!

I am working in a path planning development, the thing is it calculates the plan according dynamic obstacles. I am trying to implement that, but the problem is that my robot hasn t the proper sensor to recognize those obstacles, so i will simulate them. Therefore, someone knows how I can send the gazebo the laser and odometry information taken from my robot, so with the simulated obstacles my algorithm can calculate the best path?
Any idea for me is the great help.

Thanks in advance.

Nicolas