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As you havent provided details of your robot, i will tell you about adding a sensor in pr2. The physical sensor can be added in pr2 by using xacro file. In pr2 you can add sensors in head, torso and base.

But if you want to add a new sensor, (IR and Sonar) which are currently not available, you need to create them from scratch.

The process of creating a new sensor is not simple, i am working on it and finished it, it will be soon made public after testing repeatedly.

Now the available sensors are bumper (Contact sensors) and laserScan.