diff --git a/ros2_control_demo_robot/controllers/rrbot_gazebo_forward_controller_position.yaml b/ros2_control_demo_robot/controllers/rrbot_gazebo_forward_controller_position.yaml
new file mode 100644
index 000000000..5df0e5d8e
--- /dev/null
+++ b/ros2_control_demo_robot/controllers/rrbot_gazebo_forward_controller_position.yaml
@@ -0,0 +1,16 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_controller:
+      type: joint_state_controller/JointStateController
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - joint1
+      - joint2
+    interface_name: position
diff --git a/ros2_control_demo_robot/description/rrbot/rrbot.gazebo.xacro b/ros2_control_demo_robot/description/rrbot/rrbot.gazebo.xacro
index bdbc2a7f8..347d6f61f 100644
--- a/ros2_control_demo_robot/description/rrbot/rrbot.gazebo.xacro
+++ b/ros2_control_demo_robot/description/rrbot/rrbot.gazebo.xacro
@@ -9,9 +9,8 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
     <!-- ros_control plugin -->
     <gazebo>
-      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-        <robotNamespace>/rrbot</robotNamespace>
-        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+        <parameters>$(find ros2_control_demo_robot)/controllers/rrbot_gazebo_forward_controller_position.yaml</parameters>
       </plugin>
     </gazebo>
 
diff --git a/ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro b/ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro
index a97ecdeeb..633b05e6e 100644
--- a/ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro
+++ b/ros2_control_demo_robot/description/rrbot/rrbot_system_position_only.ros2_control.xacro
@@ -1,15 +1,24 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_system_position_only" params="name prefix">
+  <xacro:macro name="rrbot_system_position_only" params="name prefix use_sim:='false' ">
 
     <ros2_control name="${name}" type="system">
-      <hardware>
-        <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
-        <param name="example_param_hw_start_duration_sec">2.0</param>
-        <param name="example_param_hw_stop_duration_sec">3.0</param>
-        <param name="example_param_hw_slowdown">2.0</param>
-      </hardware>
+
+      <xacro:if value="$(arg use_sim)">
+        <hardware>
+          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+        </hardware>
+      </xacro:if>
+      <xacro:unless value="$(arg use_sim)">
+        <hardware>
+          <plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>
+          <param name="example_param_hw_start_duration_sec">2.0</param>
+          <param name="example_param_hw_stop_duration_sec">3.0</param>
+          <param name="example_param_hw_slowdown">2.0</param>
+        </hardware>
+      </xacro:unless>
+
       <joint name="joint1">
         <command_interface name="position">
           <param name="min">-1</param>
@@ -29,4 +38,3 @@
   </xacro:macro>
 
 </robot>
-
diff --git a/ros2_control_demo_robot/description/rrbot_system_position_only.urdf.xacro b/ros2_control_demo_robot/description/rrbot_system_position_only.urdf.xacro
index c25494ab7..9f6c0f5a5 100644
--- a/ros2_control_demo_robot/description/rrbot_system_position_only.urdf.xacro
+++ b/ros2_control_demo_robot/description/rrbot_system_position_only.urdf.xacro
@@ -5,7 +5,8 @@ Copied and modified from ROS1 example:
 https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.xacro
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
-
+  <xacro:arg name="use_sim" default="false" />
+  
   <!-- Import RRBot macro -->
   <xacro:include filename="rrbot/rrbot.urdf.xacro" />
   <!-- <xacro:include filename="$(find ros2_control_demo_robot)/description/rrbot/rrbot.urdf.xacro" /> -->
@@ -34,6 +35,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 
   <xacro:rrbot_gazebo prefix="" />
 
-  <xacro:rrbot_system_position_only name="RRBotSystemPositionOnly" prefix="" />
+  <xacro:rrbot_system_position_only name="RRBotSystemPositionOnly" prefix="" use_sim="$(arg use_sim)" />
 
 </robot>
diff --git a/ros2_control_demo_robot/launch/rrbot_system_position_only_gazebo.launch.py b/ros2_control_demo_robot/launch/rrbot_system_position_only_gazebo.launch.py
new file mode 100644
index 000000000..0114209d5
--- /dev/null
+++ b/ros2_control_demo_robot/launch/rrbot_system_position_only_gazebo.launch.py
@@ -0,0 +1,60 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from launch_ros.actions import Node
+
+import xacro
+
+
+def generate_launch_description():
+    gazebo = IncludeLaunchDescription(
+                PythonLaunchDescriptionSource([os.path.join(
+                    get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
+             )
+
+    robot_description_path = os.path.join(
+        get_package_share_directory('ros2_control_demo_robot'),
+        'description',
+        'rrbot_system_position_only.urdf.xacro')
+    robot_description_config = xacro.process_file(
+        robot_description_path,
+        mappings={'use_sim': 'true'})
+    robot_description = {'robot_description': robot_description_config.toxml()}
+
+    node_robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description]
+    )
+
+    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
+                        arguments=['-topic', 'robot_description',
+                                   '-entity', 'rrbot_system_position'],
+                        output='screen')
+
+    return LaunchDescription([
+        gazebo,
+        node_robot_state_publisher,
+        spawn_entity,
+    ])
diff --git a/ros2_control_demo_robot/package.xml b/ros2_control_demo_robot/package.xml
index b0c761395..4322595a3 100644
--- a/ros2_control_demo_robot/package.xml
+++ b/ros2_control_demo_robot/package.xml
@@ -14,6 +14,9 @@
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>gazebo_ros2_control</depend>
+
+  <exec_depend>xacro</exec_depend>
 
   <depend>ros2_control_demo_hardware</depend>