diff --git a/ros_gz_sim/CMakeLists.txt b/ros_gz_sim/CMakeLists.txt
index 7f420e09..eb79bf94 100644
--- a/ros_gz_sim/CMakeLists.txt
+++ b/ros_gz_sim/CMakeLists.txt
@@ -12,6 +12,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(ros_gz_bridge REQUIRED)
 find_package(std_msgs REQUIRED)
 
 if(NOT DEFINED ENV{GZ_VERSION})
@@ -86,6 +87,22 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}
 )
 
+# ROS Gz bridge
+add_library(ros-gz-bridge-system SHARED src/ros_gz_bridge_system.cpp)
+target_link_libraries(ros-gz-bridge-system PUBLIC
+  gz-sim${GZ_SIM_VER}::core
+  rclcpp::rclcpp
+  ros_gz_bridge::ros_gz_bridge
+)
+target_include_directories(ros-gz-bridge-system PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ros_gz_sim>"
+  "$<INSTALL_INTERFACE:include/ros_gz_sim>"
+)
+install(
+  TARGETS ros-gz-bridge-system
+  DESTINATION lib
+)
+
 configure_file(
   launch/gz_sim.launch.py.in
   launch/gz_sim.launch.py.configured
diff --git a/ros_gz_sim/package.xml b/ros_gz_sim/package.xml
index a4cad906..bbad141a 100644
--- a/ros_gz_sim/package.xml
+++ b/ros_gz_sim/package.xml
@@ -17,6 +17,7 @@
   <depend>ament_index_python</depend>
   <depend>libgflags-dev</depend>
   <depend>rclcpp</depend>
+  <depend>ros_gz_bridge</depend>
   <depend>std_msgs</depend>
 
   <!-- Garden -->
diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
index 8e0f580a..d0626157 100644
--- a/ros_gz_sim_demos/CMakeLists.txt
+++ b/ros_gz_sim_demos/CMakeLists.txt
@@ -33,6 +33,12 @@ install(
   DESTINATION share/${PROJECT_NAME}/worlds
 )
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
 
 ament_package()
diff --git a/ros_gz_sim_demos/hooks/ros_gz_sim_demos.dsv.in b/ros_gz_sim_demos/hooks/ros_gz_sim_demos.dsv.in
index a0c6d4fc..68a3bc14 100644
--- a/ros_gz_sim_demos/hooks/ros_gz_sim_demos.dsv.in
+++ b/ros_gz_sim_demos/hooks/ros_gz_sim_demos.dsv.in
@@ -1 +1 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share