Feature Request: Add documentation for SDF file format across all sensors.

[ShotaAk]

Desired behavior

Current Situation: Gazebo official tutorials cover IMU and LiDAR usage, but lack documentation for other sensors like cameras and FT sensors.

https://gazebosim.org/docs/harmonic/sensors

Proposal: Please expand the official tutorials to include guides on integrating various sensors (e.g., cameras, FT sensors). Include details on plugin usage and parameter configurations for each sensor type.

Alternatives considered

If documentation for all sensors' plugins and parameters exists, please add links to this information in the official tutorials.

Implementation suggestion

Table of contents:

• Ignition launch
• Video walk-through
• Other sensors
  • RGB Camera
  • Depth Camera
  • Force Torque Sensor
  • Air Pressure Sensor

Force Torque Sensor page:

world file:

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <plugin
      filename="ignition-gazebo-forcetorque-system"
      name="ignition::gazebo::systems::ForceTorque">
    </plugin>
  </world>
</sdf>

model file (URDF):

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
    <gazebo reference="joint1">
      <sensor name="force_torque_sensor" type="force_torque">
        <update_rate>100.0</update_rate>
        <always_on>1</always_on>
        <topic>joint1/force_torque</topic>
        <visualize>false</visualize>
        <ignition_frame_id>link1</ignition_frame_id>
        <force_torque>
          <frame>child</frame>
          <measure_direction>child_to_parent</measure_direction>
        </force_torque>
      </sensor>
    </gazebo>
</robot>

Additional context

[Ryanf55]

If the RGB camera API can't be given in a tutorial, perhaps a link to the header file could be added?

[mabelzhang]

The example worlds are helpful too: https://github.com/gazebosim/gz-sim/tree/gz-sim8/examples/worlds e.g. camera_sensor https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/camera_sensor.sdf

A tutorial could start from the existing example worlds, and not have to start from scratch.