[ros-users] Availability of simulated sensors

I'm trying to find a simulation environment that works with ROS so I may do a 3D simulation of a two-wheeled balancing robot or basic balancing humanoid.
Webots and Marilou beyond my bankroll.
Does the ROS-supported version of Gazebo provide simulated accelerometers, gyro sensors, IMU senors, tactile sensors, force sensors, temperature sensors and pressure sensors?
If not, is there an open source way to acquire these simulated sensors for use with ROS?
Reinventing the wheel, by creating the simulated sensors myself has no appeal.

Thanks,
SamQ