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, SDFormat supports types air_pressure, air_speed, altimeter, camera, contact, boundingbox_camera, boundingbox, custom, depth_camera, depth, force_torque, gps, gpu_lidar, gpu_ray, imu, lidar, logical_camera, magnetometer, multicamera, navsat, ray, rfid, rfidtag, rgbd_camera, rgbd, segmentation_camera, segmentation, sonar, thermal_camera, thermal, wireless_receiver, and wireless_transmitter. The "ray", "gpu_ray", and "gps" types are equivalent to "lidar", "gpu_lidar", and "navsat", respectively. It is preferred to use "lidar", "gpu_lidar", and "navsat" since "ray", "gpu_ray", and "gps" will be deprecated. The "ray", "gpu_ray", and "gps" types are maintained for legacy support. 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 Name of the topic on which data is published. This is necessary for visualization If true, the sensor will publish performance metrics An optional frame id which indicates the sensor's frame of reference.