diff --git a/config/gz_bridge.yaml b/config/gz_bridge.yaml
index 3c637b5..f0cf516 100644
--- a/config/gz_bridge.yaml
+++ b/config/gz_bridge.yaml
@@ -3,10 +3,10 @@
   gz_type_name: "gz.msgs.Clock"
   direction: GZ_TO_ROS
 
-# - topic_name: "/rgbd_camera/image/image"
-#   ros_type_name: "sensor_msgs/msg/Image"
-#   gz_type_name: "gz.msgs.Image"
-#   direction: GZ_TO_ROS
+- topic_name: "/rgbd_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
 #
 # - topic_name: "/rgbd_camera/image/depth_image"
 #   ros_type_name: "sensor_msgs/msg/Image"
diff --git a/urdf/aubo_i5_dh_ag95.urdf.xacro b/urdf/aubo_i5_dh_ag95.urdf.xacro
index 09f4e54..5d5a4a3 100644
--- a/urdf/aubo_i5_dh_ag95.urdf.xacro
+++ b/urdf/aubo_i5_dh_ag95.urdf.xacro
@@ -9,6 +9,7 @@
   <xacro:include filename="$(find aubo_ros2_description)/urdf/materials.xacro" />
   <xacro:include filename="$(find aubo_ros2_description)/urdf/ros2_control.xacro" />
   <xacro:include filename="$(find dh_ag95_description)/urdf/dh_ag95_macro.urdf.xacro" />
+  <xacro:include filename="$(find aubo_ros2_description)/urdf/sensors.xacro" />
 
   <xacro:property name="hardware" value="gazebo" />
 
@@ -240,6 +241,11 @@
     <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
   </xacro:dh_ag95_gripper>
 
+
+  <xacro:rgbd parent="wrist3_Link" tf_prefix="">
+    <origin xyz="0.0 0.05 0.08" rpy="0.0 -1.57 -1.57" />
+  </xacro:rgbd>
+
   <xacro:aubo_ros2_control hardware="${hardware}" />
   <xacro:if value="${hardware=='gazebo'}">
     <gazebo>
diff --git a/urdf/sensors.xacro b/urdf/sensors.xacro
new file mode 100644
index 0000000..54fb9ac
--- /dev/null
+++ b/urdf/sensors.xacro
@@ -0,0 +1,92 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rack">
+  <xacro:macro name="rgbd" params="*origin parent tf_prefix">
+    <link name="${tf_prefix}rgbd_camera">
+      <inertial>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <mass value="0.1" />
+        <inertia ixx="0.000166667" ixy="0.0" ixz="0.0" iyy="0.000166667" iyz="0.0" izz="0.000166667" />
+      </inertial>
+      <visual name="">
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+        <material name="">
+          <color rgba="0.0 0.0 0.0 1.0" />
+          <texture filename="" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        <geometry>
+          <box size="0.01 0.01 0.01" />
+        </geometry>
+      </collision>
+    </link>
+
+    <gazebo reference="${tf_prefix}rgbd_camera">
+      <sensor name="${tf_prefix}rgbd_camera" type="rgbd_camera">
+        <camera>
+          <horizontal_fov>1.047</horizontal_fov>
+          <image>
+            <width>1920</width>
+            <height>1080</height>
+          </image>
+          <clip>
+            <near>0.1</near>
+            <far>100</far>
+          </clip>
+        </camera>
+        <always_on>1</always_on>
+        <update_rate>30</update_rate>
+        <visualize>true</visualize>
+        <topic>${tf_prefix}rgbd_camera</topic>
+        <enable_metrics>true</enable_metrics>
+      </sensor>
+    </gazebo>
+
+    <joint name="${tf_prefix}rgbd_camera_to_parent" type="fixed">
+      <parent link="${parent}" />
+      <child link="${tf_prefix}rgbd_camera" />
+      <xacro:insert_block name="origin" />
+    </joint>
+
+    <gazebo reference="${tf_prefix}rgbd_camera_to_parent">
+      <preserveFixedJoint>1</preserveFixedJoint>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="fts" params="name tf_prefix link">
+
+    <ros2_control name="${tf_prefix}${name}" type="sensor">
+      <hardware>
+        <plugin>gz_ros2_control/GzFts</plugin>
+      </hardware>
+
+      <sensor name="${tf_prefix}${name}">
+        <state_interface name="force.x" />
+        <state_interface name="force.y" />
+        <state_interface name="force.z" />
+        <state_interface name="torque.x" />
+        <state_interface name="torque.y" />
+        <state_interface name="torque.z" />
+      </sensor>
+    </ros2_control>
+
+    <gazebo reference="${tf_prefix}${link}_joint">
+      <preserveFixedJoint>true</preserveFixedJoint>
+      <sensor name="${tf_prefix}${name}" type="force_torque">
+        <always_on>true</always_on>
+        <update_rate>50</update_rate>
+        <visualize>true</visualize>
+        <topic>${tf_prefix}ft_data</topic>
+        <force_torque>
+          <frame>sensor</frame>
+          <measure_direction>child_to_parent</measure_direction>
+        </force_torque>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+
+</robot>