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Doubt about ultrasonic and IR sensors

Hi all, I've seen in the SDF format, that there are IR sensors, but when I include one in a model, Gazebo gives me an error (Error [] Unable to create sensor of type[ir]).

How can I create an IR sensor?

And, the next one: to create an Ultrasonic (range) sensor, I need to create a ray sensor as it's parent?

I'm very noob with Gazebo, and still learning, but the tutorial on the web is with a contact sensor and doesn't works for my purposes.

Thank you.