roch_description package provide Roch URDF model for using in ROS.
For now this model support about 2 lidars and 4 3D sensors, and all models configuration files can find at roch_robot robots in roch_description.
For different accessories collocation with Roch, please checkout configuration with roch.
And simple demo you can use following command:
roslaunch roch_viz view_model.launch