quadruped_ros2_control/descriptions/quadruped_gazebo/urdf/common/ros2_control.xacro

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

    <!-- <xacro:macro name="leg" params="name mirror mirror_dae front_hind front_hind_dae"> -->
    <ros2_control name="GazeboSystem" type="system">
        <hardware>
            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
        </hardware>

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

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

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

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

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

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

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

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

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

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

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

        <joint name="LH_KFE">
            <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>

        <sensor name="LF_foot_end">
            <state_interface name="force.x"/>
            <state_interface name="force.y"/>
            <state_interface name="force.z"/>
            <param name="frame_id">LF_FOOT</param>
        </sensor>
        <sensor name="RF_foot_end">
            <state_interface name="force.x"/>
            <state_interface name="force.y"/>
            <state_interface name="force.z"/>
            <param name="frame_id">RF_FOOT</param>
        </sensor>
        <sensor name="LH_foot_end">
            <state_interface name="force.x"/>
            <state_interface name="force.y"/>
            <state_interface name="force.z"/>
            <param name="frame_id">LH_FOOT</param>
        </sensor>
        <sensor name="RH_foot_end">
            <state_interface name="force.x"/>
            <state_interface name="force.y"/>
            <state_interface name="force.z"/>
            <param name="frame_id">LH_FOOT</param>
        </sensor>
    </ros2_control>

    <!-- Gazebo's ros2_control plugin  -->
    <gazebo>
        <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
            <parameters>$(find quadruped_gazebo)/config/jtc.yaml</parameters>
        </plugin>
        <plugin filename="gz-sim-imu-system"
                name="gz::sim::systems::Imu">
        </plugin>
        <plugin filename="gz-sim-contact-system"
                name="gz::sim::systems::Contact">
        </plugin>
        <plugin filename="gz-sim-forcetorque-system"
                name="gz::sim::systems::ForceTorque">
        </plugin>
    </gazebo>

</robot>