/usr/share/sdformat/1.5/sensor.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 | <!-- Sensor -->
<element name="sensor" required="0">
<description>The sensor tag describes the type and properties of a sensor.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>A unique name for the sensor. This name must not match another model in the model.</description>
</attribute>
<attribute name="type" type="string" default="__default__" required="1">
<description>The type name of the sensor. By default, SDF supports types camera, depth, multicamera, contact, gps, imu, ir and ray.</description>
</attribute>
<element name="always_on" type="bool" default="false" required="0">
<description>If true the sensor will always be updated according to the update rate.</description>
</element>
<element name="update_rate" type="double" default="0" required="0">
<description>The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle.</description>
</element>
<element name="visualize" type="bool" default="false" required="0">
<description>If true, the sensor is visualized in the GUI</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>This is the pose of the sensor, relative to the parent link reference frame.</description>
</element>
<element name="topic" type="string" default="__default__" required="0">
<description>Name of the topic on which data is published. This is necessary for visualization</description>
</element>
<include filename="plugin.sdf" required="*"/>
<include filename="camera.sdf" required="0"/>
<include filename="contact.sdf" required="0"/>
<include filename="gps.sdf" required="0"/>
<include filename="imu.sdf" required="0"/>
<include filename="ray.sdf" required="0"/>
<include filename="rfid.sdf" required="0"/>
<include filename="rfidtag.sdf" required="0"/>
<include filename="sonar.sdf" required="0"/>
<include filename="transceiver.sdf" required="0"/>
<include filename="forcetorque.sdf" required="0"/>
</element> <!-- End Sensor -->
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