diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index dc00d300..354ba263 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -68,9 +68,9 @@ 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..96d656c2
--- /dev/null
+++ b/ros_gz_sim_demos/config/diff_drive.yaml
@@ -0,0 +1,36 @@
+# 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
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/vehicle_green/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/tf"
+  gz_topic_name: "/model/vehicle_blue/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  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..c09bab7f
--- /dev/null
+++ b/ros_gz_sim_demos/launch/diff_drive.launch.xml
@@ -0,0 +1,17 @@
+<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">
+    <param name="qos_overrides./model/vehicle_blue.subscriber.reliability" value='reliable'></param>
+    <param name="qos_overrides./model/vehicle_green.subscriber.reliability" value='reliable'></param>
+  </ros_gz_bridge>
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/diff_drive.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_green/odom --y -2" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world  --child-frame-id vehicle_blue/odom --y 2" />
+  <executable cmd="gz sim -g" />
+</launch>
diff --git a/ros_gz_sim_demos/package.xml b/ros_gz_sim_demos/package.xml
index 414af4fe..433f3f23 100644
--- a/ros_gz_sim_demos/package.xml
+++ b/ros_gz_sim_demos/package.xml
@@ -25,6 +25,7 @@
   <exec_depend>rviz_imu_plugin</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>sdformat_urdf</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/ros_gz_sim_demos/rviz/diff_drive.rviz b/ros_gz_sim_demos/rviz/diff_drive.rviz
index e647f4c9..a43e216a 100644
--- a/ros_gz_sim_demos/rviz/diff_drive.rviz
+++ b/ros_gz_sim_demos/rviz/diff_drive.rviz
@@ -6,14 +6,13 @@ Panels:
       Expanded:
         - /Global Options1
         - /Odometry1
-        - /Odometry1/Status1
+        - /Odometry2
       Splitter Ratio: 0.5
     Tree Height: 701
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -25,6 +24,24 @@ Panels:
 Visualization Manager:
   Class: ""
   Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry
       Covariance:
@@ -56,13 +73,57 @@ Visualization Manager:
         Shaft Length: 1
         Shaft Radius: 0.05000000074505806
         Value: Arrow
-      Topic: /model/vehicle_blue/odometry
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /model/vehicle_blue/odometry
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Arrow
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /model/vehicle_green/odometry
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: vehicle_blue/odom
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -72,12 +133,30 @@ Visualization Manager:
     - Class: rviz_default_plugins/Measure
       Line color: 128; 128; 0
     - Class: rviz_default_plugins/SetInitialPose
-      Topic: /initialpose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
     - Class: rviz_default_plugins/SetGoal
-      Topic: /move_base_simple/goal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /move_base_simple/goal
     - Class: rviz_default_plugins/PublishPoint
       Single click: true
-      Topic: /clicked_point
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
   Transformation:
     Current:
       Class: rviz_default_plugins/TF
@@ -85,25 +164,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 68.66040802001953
+      Distance: 21.00491714477539
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -1.2689772844314575
-        Y: 10.203336715698242
-        Z: -2.8907392024993896
+        X: -0.4080231189727783
+        Y: 0.40098077058792114
+        Z: 2.436375617980957
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5697963237762451
+      Pitch: 0.5847957730293274
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.8253979682922363
+      Yaw: 0.4803982973098755
     Saved: ~
 Window Geometry:
   Displays:
@@ -119,5 +198,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1200
-  X: 325
-  Y: 158
+  X: 554
+  Y: 154