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..5519fc4c 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -102,7 +102,7 @@ GPU lidar data can be obtained as:
 
 Using the bridge:
 
-    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py
+    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 
diff --git a/ros_gz_sim_demos/config/gpu_lidar.yaml b/ros_gz_sim_demos/config/gpu_lidar.yaml
new file mode 100644
index 00000000..9970e084
--- /dev/null
+++ b/ros_gz_sim_demos/config/gpu_lidar.yaml
@@ -0,0 +1,18 @@
+# GPU lidar configuration.
+- ros_topic_name: "/lidar"
+  gz_topic_name: "/lidar"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/lidar/points"
+  gz_topic_name: "/lidar/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  subscriber_queue: 5
+  publisher_queue: 6
+  lazy: false
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py
deleted file mode 100644
index 42998efa..00000000
--- a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py
+++ /dev/null
@@ -1,65 +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 gpu_lidar_sensor.sdf'
-        }.items(),
-    )
-
-    # RViz
-    rviz = Node(
-       package='rviz2',
-       executable='rviz2',
-       arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'gpu_lidar_bridge.rviz')],
-       condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['lidar@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
-                   '/lidar/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rviz', default_value='true',
-                              description='Open RViz.'),
-        bridge,
-        rviz,
-    ])
diff --git a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml
new file mode 100644
index 00000000..a093e916
--- /dev/null
+++ b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml
@@ -0,0 +1,6 @@
+<launch>
+  <gz_server world_sdf_file="gpu_lidar_sensor.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/gpu_lidar.yaml" use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/gpu_lidar_bridge.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>