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Can I create custom sensor URDF 'types'?

Hi,

I am trying to create a very simple gyroscope model that just takes the angular rates of a Gazebo link directly from the simulations, adds some noise, and outputs this to ROS. It would be great to get some input on the following:

  • Should I use the SensorPlugin class?
  • If I do, I need to use the sensor urdf tags in my robot model right? Can I/should I create a custom sensor 'type'? What does the attribute 'type' actually modify?
  • Does something like this already exist?

Thanks, Kieran