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Where can I find the list of SDF tags that can be used for a particular sensor in Gazebo Garden?

TL;DR While writing this answer, I found that the Gazebo Sim sensor parameters are read through the SDFormat library, and hence all parameters are described in the SDFormat Specification, e.g. here ...
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Missing dependency 'protobuf' when building Gazebo from source

-- Missing dependency [Protobuf] (Components: all) In above line, it says that it does not find Protobuf. Below are the '...
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