diff --git a/ros_gz_sim_demos/config/magnetometer.yaml b/ros_gz_sim_demos/config/magnetometer.yaml
index 3af2e370..e5d38d2e 100644
--- a/ros_gz_sim_demos/config/magnetometer.yaml
+++ b/ros_gz_sim_demos/config/magnetometer.yaml
@@ -1,9 +1,6 @@
 # Magnetometer configuration.
-- ros_topic_name: "/magnetometer"
-  gz_topic_name: "/magnetometer"
+- topic_name: "/magnetometer"
   ros_type_name: "sensor_msgs/msg/MagneticField"
   gz_type_name: "gz.msgs.Magnetometer"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/magnetometer.launch.xml b/ros_gz_sim_demos/launch/magnetometer.launch.xml
index 065e57da..10639b43 100644
--- a/ros_gz_sim_demos/launch/magnetometer.launch.xml
+++ b/ros_gz_sim_demos/launch/magnetometer.launch.xml
@@ -1,6 +1,12 @@
 <launch>
-  <gz_server world_sdf_file="sensors.sdf" use_composition="True" create_own_container="True" />
-  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/magnetometer.yaml" use_composition="True" />
+  <gz_server
+    world_sdf_file="sensors.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/magnetometer.yaml"
+    use_composition="True" />
   <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
   <executable cmd="gz sim -g" />
 </launch>