GazeboSensorsForModel.sdf

    <sensor type="gps" name="my_gps"> <!-- See http://sdformat.org/spec?ver=1.6&elem=sensor -->
      <gps>
        <position_sensing>
          <horizontal>
            <noise type="gaussian_quantized">
              <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
            </noise>
          </horizontal>
          <vertical>
            <noise type="gaussian_quantized">
              <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
            </noise>
          </vertical>
        </position_sensing>
        <velocity_sensing>
          <horizontal>
            <noise type="gaussian_quantized">
              <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
            </noise>
          </horizontal>
          <vertical>
            <noise type="gaussian_quantized">
              <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
            </noise>
          </vertical>
        </velocity_sensing>
      </gps>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
    </sensor>

    <sensor type="magnetometer" name="my_magnetometer"> <!-- See http://sdformat.org/spec?ver=1.6&elem=sensor -->
      <magnetometer>
        <x>
          <noise type="gaussian_quantized">
            <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
          </noise>
        </x>
        <y>
          <noise type="gaussian_quantized">
            <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
          </noise>
        </y>
        <z>
          <noise type="gaussian_quantized">
            <mean>0.0</mean> <stddev>0.0</stddev> <bias_mean>0.0</bias_mean> <bias_stddev>0.0</bias_stddev> <precision>4</precision>
          </noise>
        </z>
      </magnetometer>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
    </sensor>

    <sensor type="wireless_transmitter" name="my_transmitter">
    <!-- See http://sdformat.org/spec?ver=1.6&elem=sensor#sensor_transceiver and
             http://www.newegg.com/Product/Product.aspx?Item=N82E16833704045 and
             https://files.i4wifi.cz/inc/_doc/attach/StoItem/2120/en_manual.pdf -->
      <transceiver>
        <essid>"asv-wifi-nw"</essid>
        <frequency>2400</frequency>
        <min_frequency>2400</min_frequency>
        <max_frequency>2484</max_frequency>
        <gain>4</gain>
        <power>19</power>
        <sensitivity>1</sensitivity>
      </transceiver>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
    </sensor>

    <sensor type="wireless_receiver" name="my_receiver">
    <!-- See http://sdformat.org/spec?ver=1.6&elem=sensor#sensor_transceiver and
             http://www.newegg.com/Product/Product.aspx?Item=N82E16833704045 and
             https://files.i4wifi.cz/inc/_doc/attach/StoItem/2120/en_manual.pdf -->
      <transceiver>
        <essid>"asv-wifi-nw"</essid>
        <frequency>2400</frequency>
        <min_frequency>2400</min_frequency>
        <max_frequency>2484</max_frequency>
        <gain>4</gain>
        <power>19</power>
        <sensitivity>1</sensitivity>
      </transceiver>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
    </sensor>