OK I just uploaded v. 0.1.8 which includes a few bug fixes, terrain shadows, and most importantly the Canesta range camera on the ATRVJr. It is deactivated by default because it uses a ton of bandwidth. Also get SARGEController 1.5 which includes functions to use the Canesta sensor.
The simulated spinning laser is now working quite well. I've improved the speed of SARGE when using it quite a bit now, though I'm not done exploring a few more optimization options. Anyway here's a screenshot. I'll post a new project file with these enhancements soon as well as the visualization tools to use with it.