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Data is output from a sensor via a controller and interface pair. Just as a physical model may use a controller and interface to receive controll commands, a sensor can use the controller and interface to process sensor data nd publish it to libgazebo.
gazebo/server/sensors/SensorStub.*to your new directory. Change the name of the sensor appropriatly.
LoadChildfunction to read any parameters from the XML configuration file. For example, the camera sensor reads the size of the image, horizontal field of view, clipping planes, and a few other miscellaneous parameters.
UpdateChildfunction is called. Use this function to collect, process, and store all data relvant to the sensor. A controller will use this information to fill in a libgazebo interface.
Both the RaySensor and CameraSensor provide good examples of how to gather different kinds of data from the Gazebo world, and make it accessible to a controller.