Hello
I am working on a robotics project where I need to synchronize real-world sensor data with a Gazebo simulation. The goal is to feed live sensor readings from a physical robot into Gazebo; allowing the simulated environment to reflect real-world conditions in real-time. 
Currently, I am experimenting with ROS topics to stream data from IMUs, LiDAR & cameras, but I am facing challenges with latency and accuracy in data synchronization. 
Sometimes, there is a noticeable delay in sensor updates &in other cases, the data does not align correctly with the simulated robot’s movements. I checked ROS Integration — Gazebo blueprint documentation selenium related to this and found it quite informative.
Has anyone successfully achieved real-time sensor integration with Gazebo? What are the best methods to minimize lag and ensure accurate synchronization? 
Any insights on time-stamping strategies or middleware solutions would be highly appreciated.
Thank you !! 