Is there one for ros2 foxy and igniton citadel?

I can only find lidar on citadel, but I'm having hard time to find ones for ultrasonic and IR sensor

Update #1 9/10/21:

I got lidar acting as an ultrasonic sensor. I'm using the range from sensor_msgs.range in python.

  <sensor name='gpu_lidar' type='gpu_lidar'>
      <always_on>1</always_on>
      <visualize>true</visualize>
      <topic>ultrasonic</topic>
      <update_rate>10</update_rate>
      <lidar>
          <scan>
              <vertical>
                <samples>5</samples>
                <resolution>1</resolution>
                <min_angle>0.00</min_angle>
                <max_angle>0.25</max_angle>
              </vertical>
          </scan>
      <range>
        <min>0.120000</min>
        <max>3.5</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </lidar>

I still have no idea for the IR sensor.

I was looking for something like to simulate the sensor in citadel and ros2 foxy. I wanted to make gazebo follow the black line or react to the brightness level. I believe this is the special case, isn't it?

  <sensor name='gpu_lidar' type='gpu_lidar'>
      <always_on>1</always_on>
      <visualize>true</visualize>
      <topic>ultrasonic</topic>
      <update_rate>10</update_rate>
      <lidar>
          <scan>
              <vertical>
                <samples>5</samples>
                <resolution>1</resolution>
                <min_angle>0.00</min_angle>
                <max_angle>0.25</max_angle>
              </vertical>
          </scan>
      <range>
        <min>0.120000</min>
        <max>3.5</max>
        <resolution>0.015000</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </lidar>