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The following steps may be helpful: 1. In the URDF file of the robot, create a link/joint for the sensor 2. Add a gazebo reference tag, that will allow you to add the plugin for the sensor Note: There are several plugins already available for commonly used sensors. If the existing plugins work for your case, then the tutorial below should be very helpful.

Check out the sensor plugin section at the link below. [http://gazebosim.org/tutorials?tut=ros_gzplugins]

The following steps may be helpful: 1. helpful:

1. In the URDF file of the robot, create a link/joint for the sensor 2. senso
2. Add a gazebo reference tag, that will allow you to add the plugin for the sensor sensor

Note: There are several plugins already available for commonly used sensors. If the existing plugins work for your case, then the tutorial below should be very helpful.

Check out the sensor plugin section at the link below. [http://gazebosim.org/tutorials?tut=ros_gzplugins] [http://gazebosim.org/tutorials?tut=ros_gzplugins]