File: world_valid_root_reference.sdf

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<?xml version="1.0" ?>
<sdf version="1.8" xmlns:custom_ns="custom_ns_uri">
  <world name="world_invalid_root_reference"> 
    <model name="model1">
      <pose>1 0 0 0 0 0</pose>
      <link name="link1">
        <sensor name="sensor1" type="imu">
          <topic>__root__</topic> <!-- VALID __root__ is being used in a context where frame semantics does not apply -->
        </sensor>
      </link>
    </model>
    <frame name="frame1" custom_ns:attr1="__root__"/> <!-- VALID __root__ is being used in a custom attribute -->
    <custom_ns:elem1 name="__root__" /> <!-- VALID __root__ is being used in a custom element -->
  </world>
</sdf>