ROS Stage in Fuerte on 12.04 only supports 1 ranger or 1 sonar type how to do both

edit

I understand that there is a ROS stage limitation of support where a robot is only allowed to have "rangers with 1 sensor only." As referenced here. As well as a rename of the Laser to rangers type, as referenced here.

Then how do I create a robot model to the specifications of my physical robot which will be compatible with ROS Stage 4.1.1? See here for breakdown of S1R. I have a mix of sonar, IR, and laser rangefinder. Currently, I would have to strip it down and only have one sensor on it, and I certainly don't want to do that.

What happened to the change in Stage that allowed multiple sensors as described in here?

The following world code is what I am working with:

include "S1R.inc"
include "hokuyo.inc"

S1R
(       
  # can refer to the robot by this name
  name "r0"
  pose [ 1.20 2.00 0 150 ]

  hokuyolaser(
    color "gray"
    pose [0.04 0.00 -0.11 0]
  )

  alwayson 1
  localization "gps"
  localization_origin [ 0 0 0 0 ]
  laser_return 0
)


window
(
  size [ 800 800 ] # in pixels
  scale 150.0
     # pixels per meteri
  center [ 1.7 1.8 ]
  rotate [ 0  0 ]


  view (       
    show_data 1              
    show_laser 1
    show_laser_strikes 1
    show_ranger 0
    show_mines 1
  )
)




###########################
# OBSTACLES
###########################


define obstacle model
(
  name "unknown"
  color  "orange"
  pose [0 0 0 0]
  size [0 0 0]
  gui_nose 0
  gui_grid 0
  gui_move 1
  gui_outline 0

  # insensible to collision and range sensors
  obstacle_return 1
  laser_return 1
  ranger_return 1  
)

obstacle(name "1" pose [1.71 0.02 0 90.0] size [0.04 3.34 0.25] color "brown")
obstacle(name "2" pose [1.71 3.7 0 90.0] size [0.04 3.34 0.25] color "brown")
obstacle(name "3" pose [0.02 1.86 0 0.0] size [0.04 3.72 0.25] color "brown")
obstacle(name "4" pose [3.4 1.86 0 0.0] size [0.04 3.72 0.25] color "brown")
obstacle(name "10" pose [2.26 0.5 0 0.0] size [0.04 0.28 0.25] color "red")
#obstacle(name "11" pose [2.76 0.18 0 0.0] size [0.04 0.28 0.25] color "red")
obstacle(name "22" pose [2.9 1.46 0 0.0] size [0.04 0.28 0.25] color "red")
obstacle(name "26" pose [0.5 0.34 0 90.0] size [0.04 0.36 0.25] color "gray49")
obstacle(name "27" pose [0.18 0.66 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "28" pose [1.16 0.34 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "29" pose [1.48 0.34 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "30" pose [1.44 0.66 0 90.0] size [0.04 0.32 0.25] color "gray49")
obstacle(name "31" pose [2.1 0.66 0 90.0] size [0.04 0 ...