diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index 157d4cb5..c13819d6 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -126,7 +126,7 @@ Publishes IMU readings.
 
 Publishes magnetic field readings.
 
-    ros2 launch ros_gz_sim_demos magnetometer.launch.py
+    ros2 launch ros_gz_sim_demos magnetometer.launch.xml
 
 ![](images/magnetometer_demo.png)
 
@@ -208,6 +208,6 @@ and transforms of a robot in rviz.
 
 To try the demo launch:
 
-    ros2 launch ros_gz_sim_demos tf_bridge.launch.py
+    ros2 launch ros_gz_sim_demos tf_bridge.launch.xml
 
 ![](images/tf_bridge.gif)
diff --git a/ros_gz_sim_demos/config/magnetometer.yaml b/ros_gz_sim_demos/config/magnetometer.yaml
new file mode 100644
index 00000000..e5d38d2e
--- /dev/null
+++ b/ros_gz_sim_demos/config/magnetometer.yaml
@@ -0,0 +1,6 @@
+# Magnetometer configuration.
+- topic_name: "/magnetometer"
+  ros_type_name: "sensor_msgs/msg/MagneticField"
+  gz_type_name: "gz.msgs.Magnetometer"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/config/tf_bridge.yaml b/ros_gz_sim_demos/config/tf_bridge.yaml
new file mode 100644
index 00000000..9debbf11
--- /dev/null
+++ b/ros_gz_sim_demos/config/tf_bridge.yaml
@@ -0,0 +1,14 @@
+# tf_bridge configuration.
+- ros_topic_name: "/joint_states"
+  gz_topic_name: "/world/default/model/double_pendulum_with_base0/joint_state"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/double_pendulum_with_base0/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/magnetometer.launch.py b/ros_gz_sim_demos/launch/magnetometer.launch.py
deleted file mode 100644
index e35b8487..00000000
--- a/ros_gz_sim_demos/launch/magnetometer.launch.py
+++ /dev/null
@@ -1,63 +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 = 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 sensors.sdf'
-        }.items(),
-    )
-
-    # RQt
-    rqt = Node(
-        package='rqt_topic',
-        executable='rqt_topic',
-        arguments=['-t'],
-        condition=IfCondition(LaunchConfiguration('rqt'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/magnetometer@sensor_msgs/msg/MagneticField@gz.msgs.Magnetometer'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rqt', default_value='true',
-                              description='Open RQt.'),
-        bridge,
-        rqt
-    ])
diff --git a/ros_gz_sim_demos/launch/magnetometer.launch.xml b/ros_gz_sim_demos/launch/magnetometer.launch.xml
new file mode 100644
index 00000000..10639b43
--- /dev/null
+++ b/ros_gz_sim_demos/launch/magnetometer.launch.xml
@@ -0,0 +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" />
+  <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
+  <executable cmd="gz sim -g" />
+</launch>
diff --git a/ros_gz_sim_demos/launch/tf_bridge.launch.py b/ros_gz_sim_demos/launch/tf_bridge.launch.py
deleted file mode 100644
index 42f76cdc..00000000
--- a/ros_gz_sim_demos/launch/tf_bridge.launch.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# Copyright 2022 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 ExecuteProcess
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-    pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')
-    return LaunchDescription([
-        # Launch gazebo
-        ExecuteProcess(
-            cmd=[
-                'gz', 'sim', '-r',
-                os.path.join(
-                    pkg_ros_gz_sim_demos,
-                    'models',
-                    'double_pendulum_model.sdf'
-                )
-            ]
-        ),
-        # Launch a bridge to forward tf and joint states to ros2
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            arguments=[
-                '/world/default/model/double_pendulum_with_base0/joint_state@'
-                'sensor_msgs/msg/JointState[gz.msgs.Model',
-                '/model/double_pendulum_with_base0/pose@'
-                'tf2_msgs/msg/TFMessage[gz.msgs.Pose_V'
-            ],
-            remappings=[
-                ('/model/double_pendulum_with_base0/pose', '/tf'),
-                ('/world/default/model/double_pendulum_with_base0/joint_state', '/joint_states')
-            ]
-        ),
-        # Launch rviz
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'tf_bridge.rviz')]
-        )
-    ])
diff --git a/ros_gz_sim_demos/launch/tf_bridge.launch.xml b/ros_gz_sim_demos/launch/tf_bridge.launch.xml
new file mode 100644
index 00000000..321a3d8c
--- /dev/null
+++ b/ros_gz_sim_demos/launch/tf_bridge.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+  <gz_server
+    world_sdf_file="$(find-pkg-share ros_gz_sim_demos)/models/double_pendulum_model.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/tf_bridge.yaml"
+    use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/tf_bridge.rviz" />
+  <executable cmd="gz sim -g" />
+</launch>