diff --git a/ergoCubSN000/sensors/realsense_ros2.xml b/ergoCubSN000/sensors/realsense_ros2.xml
new file mode 100644
index 0000000000..ef81480cf8
--- /dev/null
+++ b/ergoCubSN000/sensors/realsense_ros2.xml
@@ -0,0 +1,48 @@
+
+
+
+
+
+
+ (640 480)
+ (640 480)
+ 30
+ true
+ RGB
+
+
+ (0.2 10.0)
+
+
+ 2
+
+ false
+
+
+
+ 0.03
+ /depthCamera
+
+
+ realsenseD450
+
+
+
+
+
+
+ 0.033
+ rgbdsensor_ros2_node
+ /camera_rgbd/color/image_rect_color
+ /camera_rgbd/depth/image_rect
+ realsense_rgb_frame
+ realsense_rgb_frame
+
+
+ realsenseD450
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ergoCubSN000/sensors/rplidar_ros2.xml b/ergoCubSN000/sensors/rplidar_ros2.xml
new file mode 100644
index 0000000000..01f44e8282
--- /dev/null
+++ b/ergoCubSN000/sensors/rplidar_ros2.xml
@@ -0,0 +1,51 @@
+
+
+
+
+
+
+
+ rpLidar4
+ 1000000
+ /dev/ttyUSB0
+ 1
+
+
+ 30.0
+ 0.1
+ 360
+ 0
+ 0.12
+ 1
+
+
+ DenseBoost
+
+
+
+
+ 0.01
+ /ergocub/laser:o
+
+
+ rpLidarS2
+
+
+
+
+
+
+
+ 0.1
+ rangefinder_ros2_node
+ /scan
+ head_laser_frame
+
+
+ rpLidarS2
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ergoCubSN000/sensors_ros2.xml b/ergoCubSN000/sensors_ros2.xml
new file mode 100644
index 0000000000..a93726bfc7
--- /dev/null
+++ b/ergoCubSN000/sensors_ros2.xml
@@ -0,0 +1,11 @@
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file