As I understand with plugin and urdf and xacro we can publish the sensor data (lase_ camera_ contact ...) in rostopic , using "urdfspawner" in gazeboros 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 gazeboplugins multirobot_scenario.launch