How to spin a range sensor in gazebo? - simulation

Question

I want to use the gazebo_range plugin to simulate a sonar sensor. I want to put it on a rover car then spin it to scan the environment.
I try to use the gazebo_ros_control controller to spin the sonar as it scans. But what actually happened is that the joint spin the entire car instead of the sensor, and the sensor just randomly spinning.
Can anyone help me and tell me how to fix it?
Thanks a lot!!
Here is my gazebo_ros_control plugin code:
<joint name="sonar_front_joint" type="continuous">
<axis xyz="0 0 1" />
<origin rpy="0 0 0" xyz="0 0 0.35" />
<parent link="base_footprint"/>
<child link="base_sonar_front"/>
</joint>
<transmission name="sonar_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="sonar_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="sonar_front_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="base_sonar_front">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/Rover</robotNamespace>
<controlPeriod>0.1</controlPeriod>
</plugin>
</gazebo>
Here is the yaml:
Rover:
# Position Controllers ---------------------------------------
joint_position_controller:
type: effort_controllers/JointPositionController
joint: sonar_front_joint
pid: {p: 1.0, i: 0.0, d: 0.0}
And here is the full /src repo in case my description is poor:
https://github.com/Benasking7124/gazebo_test
Thanks again ~