The sensor tag describes the type and properties of a sensor. A unique name for the sensor. This name must not match another model in the model. The type name of the sensor. By default, SDF supports types camera, depth, multicamera, contact, imu, ir and ray. If true the sensor will always be updated according to the update rate. The frequency at which the sensor data is generated. If left unspecified, the sensor will generate data every cycle. If true, the sensor is visualized in the GUI This is the pose of the sensor, relative to the parent link reference frame. Name of the topic on which data is published. This is necessary for visualization