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You can use the gazebo_ros_range plugin to simulate an ultrasonic (sonar) sensor. Look at lines 82 to 115 of this test world file to see how to add one to your own simulated robot.

You can use the gazebo_ros_range plugin to simulate an ultrasonic (sonar) sensor. Look at lines 82 to 115 of this test world file to see how to add one to your own simulated robot.

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