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I agree with the top answer, I tried it, it worked for me.

You can have a look at my code if you want:

https://github.com/OpenPi-bot/robot-simulation/tree/sensor :)

The code for the sensor is plugin is in this file:

https://github.com/OpenPi-bot/robot-simulation/blob/sensor/fb_description/urdf/fb.gazebo

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