Add Velodyne LiDAR to my Robot

Hey everyone, I have done this tutorial (Construct a Velodyne LiDAR and make it work) like in the link bellow. http://gazebosim.org/tutorials?cat=guided_i&tut=guided_i1 but i have no idea how can i make it work in the same way with my Robot ( make a 360° turn) and publish a scan or a pointCloud message to rviz. i tried this tutorial "Add a Sensor to a Robot" (link bellow) but the problem is that my Robot model is in a xacro file and this sensor is in a sdf file. and how can use this plugins libvelodyne_plugin.so in my project? http://gazebosim.org/tutorials/?tut=add_laser Thanks