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<!-- Sensor -->
<element name="sensor" required="0">
<description>The sensor tag describes the type and properties of a sensor.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>A unique name for the sensor. This name must not match another model in the model.</description>
</attribute>
<attribute name="type" type="string" default="__default__" required="1">
<description>The type name of the sensor. By default, SDFormat supports types
air_pressure,
altimeter,
camera,
contact,
depth_camera, depth,
force_torque,
gps,
gpu_lidar,
gpu_ray,
imu,
lidar,
logical_camera,
magnetometer,
multicamera,
navsat,
ray,
rfid,
rfidtag,
rgbd_camera, rgbd,
sonar,
thermal_camera, thermal,
wireless_receiver, and
wireless_transmitter.
The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support.
</description>
</attribute>
<element name="always_on" type="bool" default="false" required="0">
<description>If true the sensor will always be updated according to the update rate.</description>
</element>
<element name="update_rate" type="double" default="0" required="0">
<description>The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.</description>
</element>
<element name="visualize" type="bool" default="false" required="0">
<description>If true, the sensor is visualized in the GUI</description>
</element>
<element name="topic" type="string" default="__default__" required="0">
<description>Name of the topic on which data is published. This is necessary for visualization</description>
</element>
<element name="enable_metrics" type="bool" default="false" required="0">
<description>If true, the sensor will publish performance metrics</description>
</element>
<include filename="pose.sdf" required="0"/>
<include filename="plugin.sdf" required="*"/>
<include filename="air_pressure.sdf" required="0"/>
<include filename="altimeter.sdf" required="0"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="lidar.sdf" required="0"/>
<include filename="logical_camera.sdf" required="0"/>
<include filename="magnetometer.sdf" required="0"/>
<include filename="navsat.sdf" required="0"/>
<include filename="ray.sdf" required="0"/>
<include filename="rfid.sdf" required="0"/>
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
</element> <!-- End Sensor -->
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