diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
index 8e0f580a..9b69104b 100644
--- a/ros_gz_sim_demos/CMakeLists.txt
+++ b/ros_gz_sim_demos/CMakeLists.txt
@@ -9,6 +9,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 install(
   DIRECTORY
     launch/
diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index c404a4dc..94392157 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -56,9 +56,9 @@ Trigger the camera:
 
 Send commands to a differential drive vehicle and listen to its odometry.
 
-    ros2 launch ros_gz_sim_demos diff_drive.launch.py
+    ros2 launch ros_gz_sim_demos diff_drive.launch.xml
 
-Then unpause and send a command
+Then send a command
 
     ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"
 
diff --git a/ros_gz_sim_demos/config/diff_drive.yaml b/ros_gz_sim_demos/config/diff_drive.yaml
new file mode 100644
index 00000000..cc6d36e7
--- /dev/null
+++ b/ros_gz_sim_demos/config/diff_drive.yaml
@@ -0,0 +1,24 @@
+# Diff drive configuration.
+- topic_name: "/model/vehicle_blue/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  lazy: true
+  direction: ROS_TO_GZ
+
+- topic_name: "/model/vehicle_blue/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/model/vehicle_green/cmd_vel"
+  ros_type_name: "geometry_msgs/msg/Twist"
+  gz_type_name: "gz.msgs.Twist"
+  lazy: true
+  direction: ROS_TO_GZ
+
+- topic_name: "/model/vehicle_green/odometry"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "gz.msgs.Odometry"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/diff_drive.launch.py b/ros_gz_sim_demos/launch/diff_drive.launch.py
deleted file mode 100644
index 2d656d1e..00000000
--- a/ros_gz_sim_demos/launch/diff_drive.launch.py
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 2019 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 DeclareLaunchArgument
-from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-
-    pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
-    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
-
-    gz_sim = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        launch_arguments={
-            'gz_args': '-r diff_drive.sdf'
-        }.items(),
-    )
-
-    # RViz
-    rviz = Node(
-       package='rviz2',
-       executable='rviz2',
-       arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'diff_drive.rviz')],
-       condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/model/vehicle_blue/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
-                   '/model/vehicle_blue/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry',
-                   '/model/vehicle_green/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
-                   '/model/vehicle_green/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry'],
-        parameters=[{'qos_overrides./model/vehicle_blue.subscriber.reliability': 'reliable',
-                     'qos_overrides./model/vehicle_green.subscriber.reliability': 'reliable'}],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rviz', default_value='true',
-                              description='Open RViz.'),
-        bridge,
-        rviz
-    ])
diff --git a/ros_gz_sim_demos/launch/diff_drive.launch.xml b/ros_gz_sim_demos/launch/diff_drive.launch.xml
new file mode 100644
index 00000000..61a1159c
--- /dev/null
+++ b/ros_gz_sim_demos/launch/diff_drive.launch.xml
@@ -0,0 +1,14 @@
+<launch>
+  <gz_server
+    world_sdf_file="diff_drive.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/diff_drive.yaml"
+    use_composition="True"
+    bridge_params="'qos_overrides./model/vehicle_blue.subscriber.reliability': 'reliable',
+                   'qos_overrides./model/vehicle_green.subscriber.reliability': 'reliable'" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/diff_drive.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>