diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index e3b64601..2774a009 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -52,7 +52,7 @@ Using the image bridge (unidirectional, uses [image_transport](http://wiki.ros.o
 
 Using the regular bridge:
 
-    ros2 launch ros_gz_sim_demos camera.launch.py
+    ros2 launch ros_gz_sim_demos camera.launch.xml
 
 To use a camera that only publishes information when triggered:
 
diff --git a/ros_gz_sim_demos/config/camera.yaml b/ros_gz_sim_demos/config/camera.yaml
new file mode 100644
index 00000000..17fa88f9
--- /dev/null
+++ b/ros_gz_sim_demos/config/camera.yaml
@@ -0,0 +1,12 @@
+# Camera bridge configuration.
+- topic_name: "/camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/camera.launch.py b/ros_gz_sim_demos/launch/camera.launch.py
deleted file mode 100644
index aaa5fc49..00000000
--- a/ros_gz_sim_demos/launch/camera.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_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 camera_sensor.sdf'}.items(),
-    )
-
-    # RViz
-    rviz = Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'camera.rviz')],
-        condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/camera@sensor_msgs/msg/Image@gz.msgs.Image',
-                   '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        DeclareLaunchArgument('rviz', default_value='true',
-                              description='Open RViz.'),
-        gz_sim,
-        bridge,
-        rviz
-    ])
diff --git a/ros_gz_sim_demos/launch/camera.launch.xml b/ros_gz_sim_demos/launch/camera.launch.xml
new file mode 100644
index 00000000..a608ac93
--- /dev/null
+++ b/ros_gz_sim_demos/launch/camera.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+  <gz_server
+    world_sdf_file="camera_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/camera.yaml"
+    use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/camera.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id camera_link  --child-frame-id camera/link/camera --roll 1.570796327 --yaw 1.570796327" />
+  <executable cmd="gz sim -g" />
+</launch>
diff --git a/ros_gz_sim_demos/rviz/camera.rviz b/ros_gz_sim_demos/rviz/camera.rviz
index 81398197..10cb0a27 100644
--- a/ros_gz_sim_demos/rviz/camera.rviz
+++ b/ros_gz_sim_demos/rviz/camera.rviz
@@ -6,15 +6,13 @@ Panels:
       Expanded:
         - /Global Options1
         - /Camera1
-        - /Camera1/Status1
         - /Image1
       Splitter Ratio: 0.5
-    Tree Height: 557
+    Tree Height: 577
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -46,14 +44,19 @@ Visualization Manager:
       Value: true
     - Class: rviz_default_plugins/Camera
       Enabled: true
+      Far Plane Distance: 100
       Image Rendering: background and overlay
       Name: Camera
       Overlay Alpha: 0.5
-      Queue Size: 10
-      Topic: /camera
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera
       Value: true
       Visibility:
+        CameraInfo: true
         Grid: true
         Image: true
         Value: true
@@ -65,14 +68,35 @@ Visualization Manager:
       Min Value: 0
       Name: Image
       Normalize Range: true
-      Queue Size: 10
-      Topic: /camera
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera
+      Value: true
+    - Alpha: 0.5
+      Class: rviz_default_plugins/CameraInfo
+      Color: 85; 255; 255
+      Edge color: 125; 125; 125
+      Enabled: true
+      Far clip: 1
+      Name: CameraInfo
+      Not show side polygons: true
+      Show edges: true
+      Show polygons: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /camera_info
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: camera/link/camera
+    Fixed Frame: camera_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -82,12 +106,30 @@ 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
@@ -95,43 +137,43 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 19.73822784423828
+      Distance: 5.7260661125183105
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.0462728813290596
+        Y: 0.5716152787208557
+        Z: -0.3677769899368286
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7903980016708374
+      Pitch: 0.2603982985019684
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 1.5503973960876465
     Saved: ~
 Window Geometry:
   Camera:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 702
+  Height: 735
   Hide Left Dock: false
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000268fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000268000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c700000268fc0200000005fb0000000c00430061006d006500720061010000003b0000011f0000002800fffffffb0000000a0049006d0061006700650100000160000001430000002800fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000000320000026800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000281fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000281000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000017e00000281fc0200000005fb0000000c00430061006d006500720061010000003f0000012a0000001700fffffffb0000000a0049006d006100670065010000016f000001510000001700fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000001cc0000028100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
     collapsed: false
-  Width: 859
-  X: 517
-  Y: 361
+  Width: 1196
+  X: 2707
+  Y: 234