read the sensor data of gazebo - sdf model in ROS

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As I understand with plugin and urdf and xacro we can publish the sensor data (lase_ camera_ contact ...) in rostopic , using "urdf_spawner" in gazebo_ros package. I am wondering if there is way to use SDF models and sensor data directly in ROS? Because I want to use the drcsim models whose models defined as SDF model.

I think the best example for using the robot model and sensor data in gazebo and ros is : roslaunch gazebo_plugins multi_robot_scenario.launch