Sonar sensor not publishing any topic

[SimonBaribeau]

Environment

• OS Version: Ubuntu 22.04
• Gazebo Harmonic v8.9

Description

• Expected behavior: /sonar type topic to be created and listed when using gz topic -l and have range published. All other sensors are working (IMU, magnetometer, 6 lidars).
• Actual behavior: No topic is created for the sonar

Steps to reproduce

1. This is the link used for the sonar: <link name="sonar_sensor_link"> <pose relative_to="base_link">-0.372 0.165 -0.62 0 1.5708 5.2936</pose> <inertial> <mass>0.006</mass> <inertia> <ixx>0.00001</ixx> <iyy>0.00001</iyy> <izz>0.00001</izz> <ixy>0.0</ixy> <ixz>0.0</ixz> <iyz>0.0</iyz> </inertia> </inertial> <sensor name='sonar_sensor' type='sonar'> <topic>/sonar</topic> <update_rate>50</update_rate> <sonar> <geometry>cone</geometry> <min>0.3</min> <max>5</max> <radius>0.3</radius> </sonar> <always_on>1</always_on> <visualize>true</visualize> </sensor> <visual name='visual_MB1043_sonar'> <pose relative_to="base_link">-0.372 0.165 -0.62 3.1416 0 5.2936</pose> <geometry> <mesh> <uri>/home/mb1043_sonar.dae</uri> </mesh> </geometry> <material> <ambient>0.2 0.2 0.2 1.0</ambient> <diffuse>0.25 0.25 0.25 1.0</diffuse> <specular>0.8 0.8 0.8 1.0</specular> </material> </visual> </link>

Output

See below console log, no /sonar type topic is even created.
I tried with and without /sonar

simon@simon-Precision-5520:~$ gz topic -l
/cavernaute_0/command/motor_speed
/clock
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/model/cavernaute_0/command/gimbal_pitch
/model/cavernaute_0/command/gimbal_roll
/model/cavernaute_0/command/gimbal_yaw
/model/cavernaute_0/command/motor_speed
/model/cavernaute_0/odometry
/model/cavernaute_0/odometry_with_covariance
/model/cavernaute_0/pose
/model/cavernaute_0/servo_0
/model/cavernaute_0/servo_1
/model/cavernaute_0/servo_2
/model/cavernaute_0/servo_3
/model/cavernaute_0/servo_4
/model/cavernaute_0/servo_5
/model/cavernaute_0/servo_6
/model/cavernaute_0/servo_7
/sensors/marker
/stats
/world/default/clock
/world/default/dynamic_pose/info
/world/default/model/cavernaute_0/link/base_link/sensor/imu_sensor/imu
/world/default/model/cavernaute_0/link/base_link/sensor/magnetometer_sensor/magnetometer
/world/default/model/cavernaute_0/link/lidar_back_link/sensor/lidar_back/scan
/world/default/model/cavernaute_0/link/lidar_back_link/sensor/lidar_back/scan/points
/world/default/model/cavernaute_0/link/lidar_front_link/sensor/lidar_front/scan
/world/default/model/cavernaute_0/link/lidar_front_link/sensor/lidar_front/scan/points
/world/default/model/cavernaute_0/link/lidar_left_link/sensor/lidar_left/scan
/world/default/model/cavernaute_0/link/lidar_left_link/sensor/lidar_left/scan/points
/world/default/model/cavernaute_0/link/lidar_right1_link/sensor/lidar_right1/scan
/world/default/model/cavernaute_0/link/lidar_right1_link/sensor/lidar_right1/scan/points
/world/default/model/cavernaute_0/link/lidar_right2_link/sensor/lidar_right2/scan
/world/default/model/cavernaute_0/link/lidar_right2_link/sensor/lidar_right2/scan/points
/world/default/pose/info
/world/default/scene/deletion
/world/default/scene/info
/world/default/state
/world/default/stats
/ocean_current
/world/default/light_config
/world/default/material_color
/world/default/model/cavernaute_0/link/airspeed_link/sensor/air_speed/air_speed
/world/default/model/cavernaute_0/link/base_link/sensor/air_pressure_sensor/air_pressure
/world/default/model/cavernaute_0/link/base_link/sensor/navsat_sensor/navsat
/world/default/model/cavernaute_0/link/camera_link/sensor/camera_imu/imu
/world/default/model/cavernaute_0/link/flow_link/sensor/optical_flow/optical_flow
/world/default/model/cavernaute_0/link/lidar_sensor_link/sensor/lidar/scan
/world/default/model/cavernaute_0/link/link/sensor/lidar_2d_v2/scan