diff --git a/src/hangar_sim/config/config.yaml b/src/hangar_sim/config/config.yaml
index 9908d25a0..0e9ce13a1 100644
--- a/src/hangar_sim/config/config.yaml
+++ b/src/hangar_sim/config/config.yaml
@@ -86,6 +86,7 @@ ros2_control:
# [Optional, default=[]]
controllers_active_at_startup:
- "force_torque_sensor_broadcaster"
+ - "imu_sensor_broadcaster"
- "joint_state_broadcaster"
- "platform_velocity_controller"
- "vacuum_gripper"
diff --git a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
index 2bb749f96..995815a5f 100644
--- a/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
+++ b/src/hangar_sim/config/control/picknik_ur.ros2_control.yaml
@@ -11,6 +11,8 @@ controller_manager:
type: clearpath_mecanum_drive_controller/MecanumDriveController
platform_velocity_controller_nav2:
type: clearpath_mecanum_drive_controller/MecanumDriveController
+ imu_sensor_broadcaster:
+ type: imu_sensor_broadcaster/IMUSensorBroadcaster
vacuum_gripper:
type: position_controllers/GripperActionController
velocity_force_controller:
@@ -277,6 +279,11 @@ force_torque_sensor_broadcaster:
- torque.z
frame_id: tool0
+imu_sensor_broadcaster:
+ ros__parameters:
+ sensor_name: imu_site
+ frame_id: imu_link
+
velocity_force_controller:
ros__parameters:
diff --git a/src/hangar_sim/description/ur5e_ridgeback.xml b/src/hangar_sim/description/ur5e_ridgeback.xml
index d370ff313..8eb82040d 100644
--- a/src/hangar_sim/description/ur5e_ridgeback.xml
+++ b/src/hangar_sim/description/ur5e_ridgeback.xml
@@ -260,6 +260,15 @@
+
+
+
+
+
+
+
+