Is there a sonar sensor in Gazebo?

Hello everyone, my Gazebo version is Garden. I would like to add a sonar sensor to the SDF model file, but I couldn’t find a sonar plugin on the network. I would like to ask for your help. Where can I find the SDF file for the sonar sensor, or is there anyone kind enough to share the relevant code? Thank you all

The Sonar sensor has not been implemented yet. There’s an issue for it in gz-sensors and linked to that issue I see that other users have been using the Lidar sensor as an approximation (see

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I looked for the same thing, and I end up using the lidar acting like a sonar lmfao

You can see the example here:

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