diff --git a/Aliases/ignition-sensors6 b/Aliases/ignition-sensors6
deleted file mode 120000
index 8965897b5..000000000
--- a/Aliases/ignition-sensors6
+++ /dev/null
@@ -1 +0,0 @@
-../Formula/ignition-sensors5.rb
\ No newline at end of file
diff --git a/Formula/ignition-sensors6.rb b/Formula/ignition-sensors6.rb
new file mode 100644
index 000000000..6f1e4f6bb
--- /dev/null
+++ b/Formula/ignition-sensors6.rb
@@ -0,0 +1,73 @@
+class IgnitionSensors6 < Formula
+  desc "Sensors library for robotics applications"
+  homepage "https://github.com/ignitionrobotics/ign-sensors"
+  url "https://github.com/ignitionrobotics/ign-sensors/archive/61f612cdccaeb7e71db05a7b969aec3509a6fd89.tar.gz"
+  version "5.999.999~0~20210413~61f612"
+  sha256 "d7a26ca97b617b43ff470e2f2c8134219d1557cf4bc7f3d9bdaacfea66a4b8f4"
+  license "Apache-2.0"
+
+  head "https://github.com/ignitionrobotics/ign-sensors.git", branch: "main"
+
+  bottle do
+    root_url "https://osrf-distributions.s3.amazonaws.com/bottles-simulation"
+    sha256 catalina: "09130ac8d35ed918dffd0358115e06fb7d60c2f83595fe4089dea27906283036"
+    sha256 mojave:   "cce4847a8ec2cb8332ac26a6555bcef263f22b5a07c6eb2e36199990bf705d8b"
+  end
+
+  depends_on "cmake" => [:build, :test]
+  depends_on "pkg-config" => [:build, :test]
+
+  depends_on "ignition-cmake2"
+  depends_on "ignition-common4"
+  depends_on "ignition-math6"
+  depends_on "ignition-msgs8"
+  depends_on "ignition-rendering6"
+  depends_on "ignition-transport11"
+  depends_on "sdformat12"
+
+  def install
+    cmake_args = std_cmake_args
+    cmake_args << "-DBUILD_TESTING=OFF"
+
+    system "cmake", ".", *cmake_args
+    system "make", "install"
+  end
+
+  test do
+    (testpath/"test.cpp").write <<-EOS
+      #include <ignition/sensors/Noise.hh>
+
+      int main()
+      {
+        ignition::sensors::Noise noise(ignition::sensors::NoiseType::NONE);
+
+        return 0;
+      }
+    EOS
+    (testpath/"CMakeLists.txt").write <<-EOS
+      cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+      find_package(ignition-sensors6 QUIET REQUIRED)
+      add_executable(test_cmake test.cpp)
+      target_link_libraries(test_cmake ignition-sensors6::ignition-sensors6)
+    EOS
+    # test building with pkg-config
+    system "pkg-config", "ignition-sensors6"
+    cflags   = `pkg-config --cflags ignition-sensors6`.split
+    ldflags  = `pkg-config --libs ignition-sensors6`.split
+    system ENV.cc, "test.cpp",
+                   *cflags,
+                   *ldflags,
+                   "-lc++",
+                   "-o", "test"
+    system "./test"
+    # test building with cmake
+    mkdir "build" do
+      system "cmake", ".."
+      system "make"
+      system "./test_cmake"
+    end
+    # check for Xcode frameworks in bottle
+    cmd_not_grep_xcode = "! grep -rnI 'Applications[/]Xcode' #{prefix}"
+    system cmd_not_grep_xcode
+  end
+end