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It seems that there isn't a plugin to interface gazebo::sensors::RFIDSensor with ROS.

In any case, it may be fairly easy to implement such plugin. Take as example the gazebo_ros_bumper plugin (.cpp and .h). This plugin interfaces gazebo::sensors::ContactSensor with ROS.

Just in case here you can find the list of gazebo sensors and in this wiki you can find the list of gazebo-ros plugins.

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