How can i integrate Multibeam sonar and already existed Dave model?

[RounLee1]

I wanna intergrate Multibeam sonar, which is provided with example here https://field-robotics-lab.github.io/dave.doc/contents/dave_sensors/Multibeam-Forward-Looking-Sonar/

I noticed that there are a few code that handling multibeam sonar in sonar_snippets.xacro, rexrov_predator.xacro but simple action : remove annotation does not help to do it

Is there are any other special way to do it?

[woensug-choi]

You wanted to integrate it and removed it? I would recommand followg the tutorial for xacro at ros website first.