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My suggestion is to modify sdf file. Adding a sensor is fairly straightforward:

<include>
  <uri>model://<sensor></uri>
  <pose>0.2 0 0.2 0 0 0</pose>
</include>
<joint name="<sensor>_joint" type="fixed">
  <child><sensor>::link</child>
  <parent>chassis</parent>
</joint>

Replace <sensor> with your sensor. Make sure to create a joint that connects the sensor link to the chassis or wherever you need to.