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Do you mean an IR camera, an IR proximity sensor, or an IR motion sensor?

For the first and third, Gazebo would need to have some model of IR spectrum (which it doesn't). For the second, the plugin mentioned here might do the trick:

  • http://answers.gazebosim.org/question/5303/is-there-a-gazebo-plugin-that-simulates-sonar-and/
  • https://github.com/pal-robotics/pal_gazebo_plugins