quadruped_ros2_control/descriptions/unitree/go2_description/xacro/gazebo_classic.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

	<ros2_control name="GazeboSystem" type="system">
		<hardware>
			<plugin>gazebo_ros2_control/GazeboSystem</plugin>
		</hardware>

		<joint name="FR_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FR_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FR_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="FL_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RR_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_hip_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_thigh_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<joint name="RL_calf_joint">
			<command_interface name="effort" initial_value="0.0"/>
			<state_interface name="position"/>
			<state_interface name="velocity"/>
			<state_interface name="effort"/>
		</joint>

		<sensor name="imu_sensor">
			<state_interface name="orientation.x"/>
			<state_interface name="orientation.y"/>
			<state_interface name="orientation.z"/>
			<state_interface name="orientation.w"/>
			<state_interface name="angular_velocity.x"/>
			<state_interface name="angular_velocity.y"/>
			<state_interface name="angular_velocity.z"/>
			<state_interface name="linear_acceleration.x"/>
			<state_interface name="linear_acceleration.y"/>
			<state_interface name="linear_acceleration.z"/>
		</sensor>
	</ros2_control>

	<gazebo>
		<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
			<parameters>$(find go2_description)/config/gazebo.yaml</parameters>
		</plugin>
	</gazebo>

	<gazebo reference="trunk">
		<mu1>0.6</mu1>
		<mu2>0.6</mu2>
		<self_collide>1</self_collide>
	</gazebo>

	<gazebo reference="imu_link">
		<gravity>true</gravity>
		<sensor name="imu_sensor" type="imu">
			<always_on>true</always_on>
			<update_rate>1000</update_rate>
			<visualize>true</visualize>
			<topic>__default_topic__</topic>
			<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
				<topicName>trunk_imu</topicName>
				<bodyName>imu_link</bodyName>
				<updateRateHZ>1000.0</updateRateHZ>
				<gaussianNoise>0.0</gaussianNoise>
				<xyzOffset>0 0 0</xyzOffset>
				<rpyOffset>0 0 0</rpyOffset>
				<frameName>imu_link</frameName>
			</plugin>
			<pose>0 0 0 0 0 0</pose>
		</sensor>
	</gazebo>

</robot>