diff --git a/doc/index.rst b/doc/index.rst
index a3439895..77e2feab 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -133,7 +133,7 @@ URDF:
 .. code-block:: xml
 
   <gazebo>
-    <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
     </plugin>
   </gazebo>
@@ -142,7 +142,7 @@ SDF:
 
 .. code-block:: xml
 
-  <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+  <plugin filename="gz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
     <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
   </plugin>
 
@@ -172,7 +172,7 @@ URDF:
 .. code-block:: xml
 
   <gazebo>
-    <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       ...
       <ros>
         <namespace>my_namespace</namespace>
@@ -185,7 +185,7 @@ SDF:
 
 .. code-block:: xml
 
-  <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+  <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
     ...
     <ros>
       <namespace>my_namespace</namespace>
@@ -226,7 +226,7 @@ URDF:
     ...
   <ros2_control>
   <gazebo>
-    <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
+    <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system">
       ...
     </plugin>
   </gazebo>
@@ -241,7 +241,7 @@ SDF:
     </hardware>
     ...
   <ros2_control>
-  <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
+  <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="gz_ros2_control-system">
     ...
   </plugin>
 
@@ -356,6 +356,10 @@ You can also manually publish on the ``/cmd_vel`` topic to drive the robots:
       y: 0.0
       z: 1.0"
 
+For these demos you can verify that the robot is moving at the desired velocities be echoing the ``/gz/odom`` topic.
+This topic gets the simulation-real odometry of the robot from Gazebo.
+You can also echo the ``<controller_name>/odom`` topic to verify how accurate the odometry calculated by the controller is in comparison to the odometry from ``/gz/odom``.
+
 Gripper
 -----------------------------------------------------------
 
diff --git a/gz_ros2_control_demos/config/diff_drive_controller.yaml b/gz_ros2_control_demos/config/diff_drive_controller.yaml
index 02446dff..ebb160bb 100644
--- a/gz_ros2_control_demos/config/diff_drive_controller.yaml
+++ b/gz_ros2_control_demos/config/diff_drive_controller.yaml
@@ -5,14 +5,13 @@
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
 
-/**/diff_drive_base_controller:
+/**/diff_drive_controller:
   ros__parameters:
     type: diff_drive_controller/DiffDriveController
     left_wheel_names: ["left_wheel_joint"]
     right_wheel_names: ["right_wheel_joint"]
 
     wheel_separation: 1.25
-    #wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
     wheel_radius: 0.3
 
     wheel_separation_multiplier: 1.0
@@ -29,8 +28,8 @@
     enable_odom_tf: true
 
     cmd_vel_timeout: 0.5
-    #publish_limited_velocity: true
-    #velocity_rolling_window_size: 10
+    publish_limited_velocity: true
+    velocity_rolling_window_size: 10
 
     # Velocity and acceleration limits
     # Whenever a min_* is unspecified, default to -max_*
diff --git a/gz_ros2_control_demos/config/ros_gz_bridge_config.yaml b/gz_ros2_control_demos/config/ros_gz_bridge_config.yaml
new file mode 100644
index 00000000..30766d5f
--- /dev/null
+++ b/gz_ros2_control_demos/config/ros_gz_bridge_config.yaml
@@ -0,0 +1,13 @@
+---
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+
+# Topic published by OdometryPublisher plugin, only for debugging purposes
+- ros_topic_name: "/gz/odom"
+  gz_topic_name: "/gz/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  direction: GZ_TO_ROS
diff --git a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
index 8e14c17c..76c9f301 100644
--- a/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/ackermann_drive_example.launch.py
@@ -12,59 +12,48 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
-
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
+from ros_gz_bridge.actions import RosGzBridge
+from ros_gz_sim.actions import GzServer
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('gz_ros2_control_demos')
+
     # Launch Arguments
     use_sim_time = LaunchConfiguration('use_sim_time', default=True)
 
     def robot_state_publisher(context):
-        performed_description_format = LaunchConfiguration('description_format').perform(context)
+        description_format = LaunchConfiguration('description_format').perform(context)
         # Get URDF or SDF via xacro
-        robot_description_content = Command(
+        xacro_processed = Command(
             [
                 PathJoinSubstitution([FindExecutable(name='xacro')]),
                 ' ',
                 PathJoinSubstitution([
-                    FindPackageShare('gz_ros2_control_demos'),
-                    performed_description_format,
-                    f'test_ackermann_drive.xacro.{performed_description_format}'
+                    pkg_share,
+                    description_format,
+                    f'test_ackermann_drive.xacro.{description_format}'
                 ]),
             ]
         )
-        robot_description = {'robot_description': robot_description_content}
         node_robot_state_publisher = Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
             output='screen',
-            parameters=[robot_description]
+            parameters=[{'robot_description': xacro_processed}]
         )
         return [node_robot_state_publisher]
 
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare('gz_ros2_control_demos'),
-            'config',
-            'ackermann_drive_controller.yaml',
-        ]
-    )
-
-    gz_spawn_entity = Node(
-        package='ros_gz_sim',
-        executable='create',
-        output='screen',
-        arguments=['-topic', 'robot_description', '-name',
-                   'ackermann', '-allow_renaming', 'true'],
-    )
+    robot_controllers = PathJoinSubstitution([
+        pkg_share,
+        'config',
+        'ackermann_drive_controller.yaml'
+    ])
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
@@ -74,45 +63,32 @@ def robot_state_publisher(context):
     ackermann_steering_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['ackermann_steering_controller',
-                   '--param-file',
-                   robot_controllers,
-                   '--controller-ros-args',
-                   '-r /ackermann_steering_controller/tf_odometry:=/tf',
-                   '-r /ackermann_steering_controller/reference:=/cmd_vel'
-                   ],
+        arguments=[
+            'ackermann_steering_controller',
+            '--param-file', robot_controllers,
+            '--controller-ros-args',
+            '-r /ackermann_steering_controller/tf_odometry:=/tf',
+            '-r /ackermann_steering_controller/reference:=/cmd_vel'
+        ],
     )
 
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
-        output='screen'
+    # Setup ros_gz_bridge to bridge topics between ROS and Gazebo.
+    # It is launched as a composable node in the container created by the Gazebo server.
+    ros_gz_bridge = RosGzBridge(
+        bridge_name='ros_gz_bridge',
+        config_file=PathJoinSubstitution([pkg_share, 'config', 'ros_gz_bridge_config.yaml']),
+        container_name='ros_gz_container',
+        create_own_container='False',
+        use_composition='True',
     )
 
     ld = LaunchDescription([
-        bridge,
-        # Launch gazebo environment
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
-                                       'launch',
-                                       'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=gz_spawn_entity,
-                on_exit=[joint_state_broadcaster_spawner],
-            )
-        ),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=joint_state_broadcaster_spawner,
-                on_exit=[ackermann_steering_controller_spawner],
-            )
-        ),
+        gz_server,
+        gz_gui,
         gz_spawn_entity,
+        ros_gz_bridge,
+        joint_state_broadcaster_spawner,
+        ackermann_steering_controller_spawner,
         # Launch Arguments
         DeclareLaunchArgument(
             'use_sim_time',
diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
index a0b21269..e8009e5c 100644
--- a/gz_ros2_control_demos/launch/diff_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -12,66 +12,55 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
-
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
+from ros_gz_bridge.actions import RosGzBridge
+from ros_gz_sim.actions import GzServer
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('gz_ros2_control_demos')
+
     # Launch Arguments
     use_sim_time = LaunchConfiguration('use_sim_time', default=True)
 
     def robot_state_publisher(context):
-        performed_description_format = LaunchConfiguration('description_format').perform(context)
+        description_format = LaunchConfiguration('description_format').perform(context)
         # Get URDF or SDF via xacro
-        robot_description_content = Command(
+        xacro_processed = Command(
             [
                 PathJoinSubstitution([FindExecutable(name='xacro')]),
                 ' ',
                 PathJoinSubstitution([
-                    FindPackageShare('gz_ros2_control_demos'),
-                    performed_description_format,
-                    f'test_diff_drive.xacro.{performed_description_format}'
+                    pkg_share,
+                    description_format,
+                    f'test_diff_drive.xacro.{description_format}'
                 ]),
             ]
         )
-        robot_description = {'robot_description': robot_description_content}
         node_robot_state_publisher = Node(
             package='robot_state_publisher',
             executable='robot_state_publisher',
             output='screen',
-            parameters=[robot_description]
+            parameters=[{'robot_description': xacro_processed}]
         )
         return [node_robot_state_publisher]
 
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare('gz_ros2_control_demos'),
-            'config',
-            'diff_drive_controller.yaml',
-        ]
-    )
-
-    gz_spawn_entity = Node(
-        package='ros_gz_sim',
-        executable='create',
-        output='screen',
-        arguments=['-topic', 'robot_description', '-name',
-                   'diff_drive', '-allow_renaming', 'true'],
-    )
+    robot_controllers = PathJoinSubstitution([
+        pkg_share,
+        'config',
+        'diff_drive_controller.yaml'
+    ])
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=['joint_state_broadcaster'],
     )
-    diff_drive_base_controller_spawner = Node(
+    diff_drive_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
@@ -83,36 +72,23 @@ def robot_state_publisher(context):
         ],
     )
 
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
-        output='screen'
+    # Setup ros_gz_bridge to bridge topics between ROS and Gazebo.
+    # It is launched as a composable node in the container created by the Gazebo server.
+    ros_gz_bridge = RosGzBridge(
+        bridge_name='ros_gz_bridge',
+        config_file=PathJoinSubstitution([pkg_share, 'config', 'ros_gz_bridge_config.yaml']),
+        container_name='ros_gz_container',
+        create_own_container='False',
+        use_composition='True',
     )
 
     ld = LaunchDescription([
-        # Launch gazebo environment
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
-                                       'launch',
-                                       'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=gz_spawn_entity,
-                on_exit=[joint_state_broadcaster_spawner],
-            )
-        ),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=joint_state_broadcaster_spawner,
-                on_exit=[diff_drive_base_controller_spawner],
-            )
-        ),
-        bridge,
+        gz_server,
+        gz_gui,
         gz_spawn_entity,
+        ros_gz_bridge,
+        joint_state_broadcaster_spawner,
+        diff_drive_controller_spawner,
         # Launch Arguments
         DeclareLaunchArgument(
             'use_sim_time',
@@ -120,7 +96,7 @@ def robot_state_publisher(context):
             description='If true, use simulated clock'),
         DeclareLaunchArgument(
             'description_format',
-            default_value='urdf',
+            default_value='sdf',
             description='Robot description format to use, urdf or sdf'),
     ])
     ld.add_action(OpaqueFunction(function=robot_state_publisher))
diff --git a/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py b/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py
index 7ce742be..6d1058df 100644
--- a/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py
+++ b/gz_ros2_control_demos/launch/diff_drive_example_namespaced.launch.py
@@ -12,59 +12,51 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
-
 from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
+from ros_gz_bridge.actions import RosGzBridge
+from ros_gz_sim.actions import GzServer
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('gz_ros2_control_demos')
+
     # Launch Arguments
     use_sim_time = LaunchConfiguration('use_sim_time', default=True)
 
-    # Get URDF via xacro
-    robot_description_content = Command(
-        [
-            PathJoinSubstitution([FindExecutable(name='xacro')]),
-            ' ',
-            PathJoinSubstitution(
-                [FindPackageShare('gz_ros2_control_demos'),
-                 'urdf', 'test_diff_drive.xacro.urdf']
-            ),
-            ' ',
-            'namespace:=r1',
-        ]
-    )
-    robot_description = {'robot_description': robot_description_content}
-    robot_controllers = PathJoinSubstitution(
-        [
-            FindPackageShare('gz_ros2_control_demos'),
-            'config',
-            'diff_drive_controller.yaml',
-        ]
-    )
-
-    node_robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        namespace='r1',
-        output='screen',
-        parameters=[robot_description]
-    )
+    def robot_state_publisher(context):
+        description_format = LaunchConfiguration('description_format').perform(context)
+        # Get URDF or SDF via xacro
+        xacro_processed = Command(
+            [
+                PathJoinSubstitution([FindExecutable(name='xacro')]),
+                ' ',
+                PathJoinSubstitution([
+                    pkg_share,
+                    description_format,
+                    f'test_diff_drive.xacro.{description_format}'
+                ]),
+                ' ',
+                'namespace:=r1',
+            ]
+        )
+        node_robot_state_publisher = Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            namespace='r1',
+            output='screen',
+            parameters=[{'robot_description': xacro_processed}]
+        )
+        return [node_robot_state_publisher]
 
-    gz_spawn_entity = Node(
-        package='ros_gz_sim',
-        executable='create',
-        namespace='r1',
-        output='screen',
-        arguments=['-topic', 'robot_description', '-name',
-                   'diff_drive', '-allow_renaming', 'true'],
-    )
+    robot_controllers = PathJoinSubstitution([
+        pkg_share,
+        'config',
+        'diff_drive_controller.yaml'
+    ])
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
@@ -76,51 +68,62 @@ def generate_launch_description():
             '-r /r1/diff_drive_controller/cmd_vel:=/r1/cmd_vel',
         ],
     )
-    diff_drive_base_controller_spawner = Node(
+    diff_drive_controller_spawner = Node(
         package='controller_manager',
         executable='spawner',
         arguments=[
-            'diff_drive_base_controller',
+            'diff_drive_controller',
             '--param-file',
             robot_controllers,
             '-c', '/r1/controller_manager'
-            ],
+        ],
     )
 
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
-        output='screen'
+    # Launch just the Gazebo server as a composable node.
+    gz_server = GzServer(
+        world_sdf_file='empty.sdf',
+        container_name='ros_gz_container',
+        create_own_container='True',
+        use_composition='True',
     )
 
-    return LaunchDescription([
-        # Launch gazebo environment
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
-                                       'launch',
-                                       'gz_sim.launch.py'])]),
-            launch_arguments=[('gz_args', [' -r -v 1 empty.sdf'])]),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=gz_spawn_entity,
-                on_exit=[joint_state_broadcaster_spawner],
-            )
-        ),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=joint_state_broadcaster_spawner,
-                on_exit=[diff_drive_base_controller_spawner],
-            )
-        ),
-        bridge,
-        node_robot_state_publisher,
+    gz_gui = ExecuteProcess(cmd=['gz', 'sim', '-g'], output='screen')
+
+    gz_spawn_entity = Node(
+        package='ros_gz_sim',
+        executable='create',
+        namespace='r1',
+        output='screen',
+        arguments=['-topic', 'robot_description', '-name',
+                   'diff_drive', '-allow_renaming', 'true'],
+    )
+
+    # Setup ros_gz_bridge to bridge topics between ROS and Gazebo.
+    # It is launched as a composable node in the container created by the Gazebo server.
+    ros_gz_bridge = RosGzBridge(
+        bridge_name='ros_gz_bridge',
+        config_file=PathJoinSubstitution([pkg_share, 'config', 'ros_gz_bridge_config.yaml']),
+        container_name='ros_gz_container',
+        create_own_container='False',
+        use_composition='True',
+    )
+
+    ld = LaunchDescription([
+        gz_server,
+        gz_gui,
         gz_spawn_entity,
+        ros_gz_bridge,
+        joint_state_broadcaster_spawner,
+        diff_drive_controller_spawner,
         # Launch Arguments
         DeclareLaunchArgument(
             'use_sim_time',
             default_value=use_sim_time,
             description='If true, use simulated clock'),
+        DeclareLaunchArgument(
+            'description_format',
+            default_value='sdf',
+            description='Robot description format to use, urdf or sdf'),
     ])
+    ld.add_action(OpaqueFunction(function=robot_state_publisher))
+    return ld
diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index 80be55d4..6f54712a 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -20,6 +20,8 @@
   <build_depend>geometry_msgs</build_depend>
   <build_depend>rclcpp</build_depend>
   <build_depend>rclcpp_action</build_depend>
+  <build_depend>ros_gz_bridge</build_depend>
+  <build_depend>ros_gz_sim</build_depend>
   <build_depend>std_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
diff --git a/gz_ros2_control_demos/sdf/test_ackermann_drive.xacro.sdf b/gz_ros2_control_demos/sdf/test_ackermann_drive.xacro.sdf
index bca986df..dad59a2e 100644
--- a/gz_ros2_control_demos/sdf/test_ackermann_drive.xacro.sdf
+++ b/gz_ros2_control_demos/sdf/test_ackermann_drive.xacro.sdf
@@ -359,6 +359,12 @@
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       <parameters>$(find gz_ros2_control_demos)/config/ackermann_drive_controller.yaml</parameters>
     </plugin>
+    
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>ackermann_drive/odom</odom_frame>
+      <robot_base_frame>ackermann_drive</robot_base_frame>
+      <odom_topic>/gz/odom</odom_topic>
+    </plugin>
 
   </model>
 </sdf>
diff --git a/gz_ros2_control_demos/sdf/test_diff_drive.xacro.sdf b/gz_ros2_control_demos/sdf/test_diff_drive.xacro.sdf
index 0e7f2bad..fc3f9b64 100644
--- a/gz_ros2_control_demos/sdf/test_diff_drive.xacro.sdf
+++ b/gz_ros2_control_demos/sdf/test_diff_drive.xacro.sdf
@@ -1,6 +1,9 @@
 <?xml version="1.0" ?>
 <sdf version="1.8" xmlns:xacro="http://www.ros.org/wiki/xacro">
   <model name="diff_drive" canonical_link="base_link">
+
+    <xacro:arg name="namespace" default="" />
+
     <link name="base_link">
       <must_be_base_link>true</must_be_base_link>
     </link>
@@ -212,7 +215,16 @@
     </ros2_control>
 
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/diff_drive_controller_velocity.yaml</parameters>
+      <ros>
+        <namespace>$(arg namespace)</namespace>
+      </ros>
+      <parameters>$(find gz_ros2_control_demos)/config/diff_drive_controller.yaml</parameters>
+    </plugin>
+
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>diff_drive/odom</odom_frame>
+      <robot_base_frame>diff_drive</robot_base_frame>
+      <odom_topic>/gz/odom</odom_topic>
     </plugin>
 
   </model>
diff --git a/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf b/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
index bcdf8205..26f53293 100644
--- a/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_ackermann_drive.xacro.urdf
@@ -216,6 +216,12 @@
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       <parameters>$(find gz_ros2_control_demos)/config/ackermann_drive_controller.yaml</parameters>
     </plugin>
+
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>ackermann_drive/odom</odom_frame>
+      <robot_base_frame>ackermann_drive</robot_base_frame>
+      <odom_topic>/gz/odom</odom_topic>
+    </plugin>
   </gazebo>
 
 </robot>
diff --git a/gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf b/gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf
index 08956f33..98c5f75e 100644
--- a/gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_diff_drive.xacro.urdf
@@ -176,6 +176,12 @@
       </ros>
       <parameters>$(find gz_ros2_control_demos)/config/diff_drive_controller.yaml</parameters>
     </plugin>
+
+    <plugin filename="gz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
+      <odom_frame>diff_drive/odom</odom_frame>
+      <robot_base_frame>diff_drive</robot_base_frame>
+      <odom_topic>/gz/odom</odom_topic>
+    </plugin>
   </gazebo>
 
 </robot>