Import point cloud from a rosnode into gazebo

Hi. I am new to Gazebo. As far as I am concerned, we can import .urdf file etc to Gazebo. However, what I want to do is to import my point cloud from ROS sensor_msgs::PointCloud in Gazebo. I have looked for tutorials online but I don't really find a tuto that allows me to import my point cloud into Gazebo. Does anyone know any online tuto importing and manipulating point clouds in Gazebo. Any suggestion is welcomed.
Thanks in advance.