Completely Lost integrating sensors in ROS2 Humble and ign fortress

I have been trying to make a self navigation cleaner but I can't seem to find plugins for different sensors

I made a complete urdf file for the roomba(simple one similar to what articulated robotics made) planned to use a sensor but can't seem to find plugins for simulations

Also can anyone suggest some good documentation for launch files cuz I can't seem to find one about good practices and what to be carefull for.

I am confused on how to integrate all this stuff for simulations