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Examples of registering a custom sensor (not plugin)

I'm trying to make a custom sensor (that inherits from RaySensor) but am having trouble getting it registered properly if it's not built within the gazebo source code.

I call:

GZ_REGISTER_STATIC_SENSOR("parallel_ray", ParallelRaySensor)

but when I try to add a model with that sensor, I end up with:

[Err] [] Unable to create sensor of type[parallel_ray]

because sensors::SensorFactory::GetSensorTypes() doesn't list parallel_ray as a type.

Can anyone share a link to some code where a custom sensor, from outside of the gazebo source code, has been registered with gazebo's SensorManager/SensorFactory? I suspect that I need to specify the path to the sensor's .so somehow.