Sensor Plugin, can the parent sensor publishing be cancelled or altered?

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Hello, when a new sensor with similar functionality/can take advantage of an already existing one is needed the way to go is to create a sensor plugin, in this case how can one alter the message that the parent sensor is publishing or cancel it?

The previous arises from the fact that using sensors that need to modify the data have to publish the parent's same message or a custom message and then you have topics that are published by the parent sensors and are not really needed.

Thanks in advance for your suggestions.