This video explains how to integrate Laser Scan plug-in with a ROS robot simulated by Gazebo. Visualization of laser scan in Gazebo & laser topic data in Rviz is also explained.
The code discussed is a simple stand-alone example. It was tested with ROS Kinetic & Gazebo 7 running on Ubuntu 16.04.
First, clone or pull the example code from my git repository. And create ROS package files on top of source files.
git clone https://bitbucket.org/kiranpalla/learn-ros
Build ROS package and add it to ROS search path.
Launch the example.
roslaunch mybot mybot.launch