ROS2 URDF Gazebo Sensor

IMU

<gazebo reference="imu_link">
    <sensor name="br_imu" type="imu">
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <imu>
          <angular_velocity>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>2e-4</stddev>
              </noise>
            </z>
          </angular_velocity>
          <linear_acceleration>
            <x>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>0.0</mean>
                <stddev>1.7e-2</stddev>
              </noise>
            </z>
          </linear_acceleration>
        </imu>
        <plugin name="bytes_imu" filename="libgazebo_ros_imu_sensor.so">
            <ros>
                <namespace>imu</namespace>
                <remapping>~/out:=data</remapping>
            </ros>
            <initial_orientation_as_reference>false</initial_orientation_as_reference>
        </plugin>
    </sensor>
</gazebo>