Course for adding sensors?

I thought the URDF course would provide some insight on how to add sensors for gazebo/ rviz simulation but is there a course that does? Just want to learn how to add specific sensors like the SICK lidars to my own robot.urdf

in th URDF cours you are adding a camera into the Mira robot.
For lydars or lasers you can see any simulation that has them like the turtlebot3: