diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
index be1a8219..e9944cca 100644
--- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro
+++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
@@ -96,6 +96,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+	<topic>$(arg namespace)/sensors/imu_0/data_raw</topic>        
       </sensor>
     </gazebo>
 
diff --git a/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
index 3a3ffd35..c2329bd4 100644
--- a/clearpath_platform_description/urdf/do150/do150.urdf.xacro
+++ b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
@@ -96,6 +96,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+        <topic>$(arg namespace)/sensors/imu_0/data_raw</topic>
       </sensor>
     </gazebo>
 
diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
index dc8f9ac0..6ada8bae 100644
--- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro
+++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
@@ -262,6 +262,7 @@
         <update_rate>50</update_rate>
         <visualize>true</visualize>
         <gz_frame_id>imu_0_link</gz_frame_id>
+        <topic>$(arg namespace)/sensors/imu_0/data_raw</topic>
       </sensor>
     </gazebo>