diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
index 6c2d4b3e..97e98a78 100644
--- a/ros_gz_bridge/CMakeLists.txt
+++ b/ros_gz_bridge/CMakeLists.txt
@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(resource_retriever REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
 if(NOT DEFINED ENV{GZ_VERSION})
@@ -120,6 +121,7 @@ add_library(${bridge_lib}
 target_link_libraries(${bridge_lib}
   ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
   ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  resource_retriever::resource_retriever
 )
 
 ament_target_dependencies(${bridge_lib}
@@ -309,6 +311,11 @@ if(BUILD_TESTING)
     DESTINATION lib/${PROJECT_NAME}
   )
 
+  install(DIRECTORY
+    test/config
+    DESTINATION share/${PROJECT_NAME}/test/
+  )
+
   add_launch_test(test/launch/test_ros_subscriber.launch.py
     TIMEOUT 200
     ARGS "gz_msgs_ver:=${GZ_MSGS_VERSION_FULL}"
@@ -341,6 +348,7 @@ ament_export_targets(export_${PROJECT_NAME})
 # specific order: dependents before dependencies
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rclcpp_components)
+ament_export_dependencies(resource_retriever)
 ament_export_dependencies(${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER})
 ament_export_dependencies(${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER})
 ament_export_dependencies(yaml_cpp_vendor)
diff --git a/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp b/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp
index 735cdecc..8e93a271 100644
--- a/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp
+++ b/ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp
@@ -68,6 +68,9 @@ class RosGzBridge : public rclcpp::Node
 
   /// \brief Timer to control periodic callback
   rclcpp::TimerBase::SharedPtr heartbeat_timer_;
+
+  /// \brief Whether the config_file parameter was parsed or not.
+  bool config_file_parsed_{false};
 };
 }  // namespace ros_gz_bridge
 
diff --git a/ros_gz_bridge/package.xml b/ros_gz_bridge/package.xml
index cf626a38..fb32ea75 100644
--- a/ros_gz_bridge/package.xml
+++ b/ros_gz_bridge/package.xml
@@ -22,6 +22,7 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>resource_retriever</depend>
   <depend>ros_gz_interfaces</depend>
   <depend>rosgraph_msgs</depend>
   <depend>sensor_msgs</depend>
diff --git a/ros_gz_bridge/src/bridge_config.cpp b/ros_gz_bridge/src/bridge_config.cpp
index d15e0dd8..d83cc7a9 100644
--- a/ros_gz_bridge/src/bridge_config.cpp
+++ b/ros_gz_bridge/src/bridge_config.cpp
@@ -20,6 +20,7 @@
 #include <vector>
 
 #include <rclcpp/rclcpp.hpp>
+#include <resource_retriever/retriever.hpp>
 #include <ros_gz_bridge/bridge_config.hpp>
 
 namespace ros_gz_bridge
@@ -174,30 +175,48 @@ std::vector<BridgeConfig> readFromYamlFile(const std::string & filename)
 {
   std::vector<BridgeConfig> ret;
   std::ifstream in(filename);
+  resource_retriever::Retriever retriever;
+  resource_retriever::MemoryResource res;
 
   auto logger = rclcpp::get_logger("readFromYamlFile");
-  if (!in.is_open()) {
+
+  if (in.is_open()) {
+    // Compute file size to warn on empty configuration
+    const auto fbegin = in.tellg();
+    in.seekg(0, std::ios::end);
+    const auto fend = in.tellg();
+    const auto fsize = fend - fbegin;
+
+    if (fsize == 0) {
+      RCLCPP_ERROR(
+        logger,
+        "Could not parse config: file empty [%s]", filename.c_str());
+      return ret;
+    }
+
+    in.seekg(0, std::ios::beg);
+    return readFromYaml(in);
+  }
+
+  try {
+    res = retriever.get(filename);
+  } catch (const resource_retriever::Exception & exc) {
     RCLCPP_ERROR(
       logger,
       "Could not parse config: failed to open file [%s]", filename.c_str());
     return ret;
   }
 
-  // Compute file size to warn on empty configuration
-  const auto fbegin = in.tellg();
-  in.seekg(0, std::ios::end);
-  const auto fend = in.tellg();
-  const auto fsize = fend - fbegin;
-
-  if (fsize == 0) {
+  // Sanity check: Avoid empty configuration.
+  if (res.size == 0) {
     RCLCPP_ERROR(
       logger,
       "Could not parse config: file empty [%s]", filename.c_str());
     return ret;
   }
 
-  in.seekg(0, std::ios::beg);
-  return readFromYaml(in);
+  std::string str(reinterpret_cast<char *>(res.data.get()), res.size);
+  return readFromYamlString(str);
 }
 
 std::vector<BridgeConfig> readFromYamlString(const std::string & data)
diff --git a/ros_gz_bridge/src/ros_gz_bridge.cpp b/ros_gz_bridge/src/ros_gz_bridge.cpp
index f542ee90..2f712e87 100644
--- a/ros_gz_bridge/src/ros_gz_bridge.cpp
+++ b/ros_gz_bridge/src/ros_gz_bridge.cpp
@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <ros_gz_bridge/ros_gz_bridge.hpp>
-
 #include <memory>
 #include <string>
 
+#include <ros_gz_bridge/ros_gz_bridge.hpp>
+
 #include "bridge_handle_ros_to_gz.hpp"
 #include "bridge_handle_gz_to_ros.hpp"
 
@@ -43,7 +43,8 @@ void RosGzBridge::spin()
   if (handles_.empty()) {
     std::string config_file;
     this->get_parameter("config_file", config_file);
-    if (!config_file.empty()) {
+    if (!config_file.empty() && !config_file_parsed_) {
+      config_file_parsed_ = true;
       auto entries = readFromYamlFile(config_file);
       for (const auto & entry : entries) {
         this->add_bridge(entry);
diff --git a/ros_gz_bridge/test/bridge_config.cpp b/ros_gz_bridge/test/bridge_config.cpp
index 07987865..9d261be5 100644
--- a/ros_gz_bridge/test/bridge_config.cpp
+++ b/ros_gz_bridge/test/bridge_config.cpp
@@ -71,14 +71,14 @@ class BridgeConfig : public ::testing::Test
 TEST_F(BridgeConfig, Minimum)
 {
   auto results = ros_gz_bridge::readFromYamlFile("test/config/minimum.yaml");
-  EXPECT_EQ(4u, results.size());
+  ASSERT_EQ(4u, results.size());
 
   {
     auto config = results[0];
     EXPECT_EQ("chatter", config.ros_topic_name);
     EXPECT_EQ("chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -88,7 +88,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_ros", config.ros_topic_name);
     EXPECT_EQ("chatter_ros", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -98,7 +98,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_gz", config.ros_topic_name);
     EXPECT_EQ("chatter_gz", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -108,7 +108,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_both_ros", config.ros_topic_name);
     EXPECT_EQ("chatter_both_gz", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -117,7 +117,8 @@ TEST_F(BridgeConfig, Minimum)
 
 TEST_F(BridgeConfig, FullGz)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/full.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/full.yaml");
   EXPECT_EQ(2u, results.size());
 
   {
@@ -125,7 +126,7 @@ TEST_F(BridgeConfig, FullGz)
     EXPECT_EQ("ros_chatter", config.ros_topic_name);
     EXPECT_EQ("gz_chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(6u, config.publisher_queue_size);
     EXPECT_EQ(5u, config.subscriber_queue_size);
     EXPECT_EQ(true, config.is_lazy);
@@ -137,7 +138,7 @@ TEST_F(BridgeConfig, FullGz)
     EXPECT_EQ("ros_chatter", config.ros_topic_name);
     EXPECT_EQ("gz_chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(20u, config.publisher_queue_size);
     EXPECT_EQ(10u, config.subscriber_queue_size);
     EXPECT_EQ(false, config.is_lazy);
@@ -195,7 +196,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg)";
+    gz_type_name: gz.msgs.StringMsg)";
 
     auto results = ros_gz_bridge::readFromYamlString(yaml);
     EXPECT_EQ(ros_gz_bridge::BridgeDirection::BIDIRECTIONAL, results[0].direction);
@@ -206,7 +207,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: BIDIRECTIONAL
     )";
 
@@ -219,7 +220,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: ROS_TO_GZ
     )";
 
@@ -232,7 +233,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: GZ_TO_ROS
     )";
 
@@ -246,7 +247,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: foobar
     )";
 
@@ -267,7 +268,8 @@ TEST_F(BridgeConfig, InvalidFileDoesntExist)
 
 TEST_F(BridgeConfig, InvalidTopLevel)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/invalid.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/invalid.yaml");
   EXPECT_EQ(0u, results.size());
   EXPECT_EQ(
     "Could not parse config: top level must be a YAML sequence",
@@ -276,9 +278,11 @@ TEST_F(BridgeConfig, InvalidTopLevel)
 
 TEST_F(BridgeConfig, EmptyYAML)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/empty.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/empty.yaml");
   EXPECT_EQ(0u, results.size());
   EXPECT_EQ(
-    "Could not parse config: file empty [test/config/empty.yaml]",
+    "Could not parse config: file empty ["
+    "package://ros_gz_bridge/test/config/empty.yaml]",
     g_last_log_event.message);
 }
diff --git a/ros_gz_bridge/test/config/full.yaml b/ros_gz_bridge/test/config/full.yaml
index ac838101..5d473824 100644
--- a/ros_gz_bridge/test/config/full.yaml
+++ b/ros_gz_bridge/test/config/full.yaml
@@ -2,7 +2,7 @@
 - ros_topic_name: "ros_chatter"
   gz_topic_name: "gz_chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
   subscriber_queue: 5
   publisher_queue: 6
   lazy: true
@@ -11,7 +11,7 @@
 - ros_topic_name: "ros_chatter"
   gz_topic_name: "gz_chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
   subscriber_queue: 10
   publisher_queue: 20
   lazy: false
diff --git a/ros_gz_bridge/test/config/invalid.yaml b/ros_gz_bridge/test/config/invalid.yaml
index c14740ad..d1e4cbeb 100644
--- a/ros_gz_bridge/test/config/invalid.yaml
+++ b/ros_gz_bridge/test/config/invalid.yaml
@@ -1,7 +1,7 @@
 ros_topic_name: "ros_chatter"
 gz_topic_name: "gz_chatter"
 ros_type_name: "std_msgs/msg/String"
-gz_type_name: "ignition.msgs.StringMsg"
+gz_type_name: "gz.msgs.StringMsg"
 subscriber_queue: 5
 publisher_queue: 6
 lazy: true
diff --git a/ros_gz_bridge/test/config/minimum.yaml b/ros_gz_bridge/test/config/minimum.yaml
index e0a6b1ca..0d5ef30e 100644
--- a/ros_gz_bridge/test/config/minimum.yaml
+++ b/ros_gz_bridge/test/config/minimum.yaml
@@ -1,20 +1,20 @@
 # Set just topic name, applies to both
 - topic_name: "chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set just ROS topic name, applies to both
 - ros_topic_name: "chatter_ros"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set just GZ topic name, applies to both
 - gz_topic_name: "chatter_gz"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set each topic name explicitly
 - ros_topic_name: "chatter_both_ros"
   gz_topic_name: "chatter_both_gz"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
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/src/ros_gz_bridge_system.cpp b/ros_gz_sim/src/ros_gz_bridge_system.cpp
new file mode 100644
index 00000000..8d79c822
--- /dev/null
+++ b/ros_gz_sim/src/ros_gz_bridge_system.cpp
@@ -0,0 +1,99 @@
+// Copyright 2024 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.
+
+#include <memory>
+#include <string>
+#include <thread>
+
+#include <gz/common/Console.hh>
+#include <gz/common/Util.hh>
+#include <gz/plugin/Register.hh>
+#include <rclcpp/rclcpp.hpp>
+#include <ros_gz_bridge/bridge_config.hpp>
+#include <ros_gz_bridge/ros_gz_bridge.hpp>
+
+#include "ros_gz_bridge_system.hpp"
+
+namespace ros_gz_sim
+{
+/// \brief Private ROSGzBridgeSystem data class.
+class ROSGzBridgeSystemPrivate
+{
+public:
+  /// \brief The ROS 2 <--> Gz bridge.
+  std::shared_ptr<ros_gz_bridge::RosGzBridge> bridge;
+
+  /// \brief The ROS 2 executor.
+  std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> exec;
+
+  /// \brief A thread to call spin and not block the Gazebo thread.
+  std::thread thread;
+};
+
+//////////////////////////////////////////////////
+ROSGzBridgeSystem::ROSGzBridgeSystem()
+: System(), dataPtr(new ROSGzBridgeSystemPrivate())
+{
+}
+
+//////////////////////////////////////////////////
+ROSGzBridgeSystem::~ROSGzBridgeSystem()
+{
+  if (this->dataPtr->exec) {
+    this->dataPtr->exec->cancel();
+    this->dataPtr->thread.join();
+  }
+}
+
+//////////////////////////////////////////////////
+void ROSGzBridgeSystem::Configure(
+  const gz::sim::Entity & /*_entity*/,
+  const std::shared_ptr<const sdf::Element> & _sdf,
+  gz::sim::EntityComponentManager & /*_ecm*/,
+  gz::sim::EventManager & /*_eventMgr*/)
+{
+  // Ensure that ROS is setup.
+  if (!rclcpp::ok()) {
+    rclcpp::init(0, nullptr);
+  }
+
+  if (!_sdf->HasElement("config_file")) {
+    gzerr << "No <config_file> found. Plugin disabled." << std::endl;
+    return;
+  }
+
+  std::string filename = _sdf->Get<std::string>("config_file");
+
+  // Create the bridge passing the parameters as rclcpp::NodeOptions().
+  this->dataPtr->bridge = std::make_shared<ros_gz_bridge::RosGzBridge>(
+    rclcpp::NodeOptions().append_parameter_override("config_file", filename));
+
+  // Create the executor.
+  this->dataPtr->exec =
+    std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  this->dataPtr->exec->add_node(this->dataPtr->bridge);
+
+  // Spin in a separate thread to not block Gazebo.
+  this->dataPtr->thread = std::thread([this]() {this->dataPtr->exec->spin();});
+}
+}  // namespace ros_gz_sim
+
+GZ_ADD_PLUGIN(
+  ros_gz_sim::ROSGzBridgeSystem,
+  gz::sim::System,
+  ros_gz_sim::ROSGzBridgeSystem::ISystemConfigure)
+
+GZ_ADD_PLUGIN_ALIAS(
+  ros_gz_sim::ROSGzBridgeSystem,
+  "ros_gz_sim::ROSGzBridge")
diff --git a/ros_gz_sim/src/ros_gz_bridge_system.hpp b/ros_gz_sim/src/ros_gz_bridge_system.hpp
new file mode 100644
index 00000000..4b7e0cf3
--- /dev/null
+++ b/ros_gz_sim/src/ros_gz_bridge_system.hpp
@@ -0,0 +1,60 @@
+// Copyright 2024 Open Source Robotics Foundation
+//
+// 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.
+
+#ifndef ROS_GZ_BRIDGE_SYSTEM_HPP_
+#define ROS_GZ_BRIDGE_SYSTEM_HPP_
+
+#include <memory>
+#include <gz/sim/Entity.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/EventManager.hh>
+#include <gz/sim/System.hh>
+#include <sdf/sdf.hh>
+
+namespace ros_gz_sim
+{
+// Private class.
+class ROSGzBridgeSystemPrivate;
+
+/// Important: This system, although functional, it's still under development.
+/// The API or its parameters can change in the near future.
+/// \brief A ROS 2 <--> gz bridge system.
+///
+/// This system can be configured with the following SDF parameters:
+/// * Optional parameters:
+///    * <config_file>: Path to a YAML file containing the list of topics to be
+///                     bridged.
+class ROSGzBridgeSystem
+  : public gz::sim::System,
+  public gz::sim::ISystemConfigure
+{
+public:
+  // \brief Constructor.
+  ROSGzBridgeSystem();
+
+  /// \brief Destructor.
+  ~ROSGzBridgeSystem() override;
+
+  // Documentation inherited.
+  void Configure(
+    const gz::sim::Entity & _entity,
+    const std::shared_ptr<const sdf::Element> & _sdf,
+    gz::sim::EntityComponentManager & _ecm,
+    gz::sim::EventManager & _eventMgr) override;
+
+  /// \brief Private data pointer.
+  std::unique_ptr<ROSGzBridgeSystemPrivate> dataPtr;
+};
+}  // namespace ros_gz_sim
+#endif  // ROS_GZ_BRIDGE_SYSTEM_HPP_
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
diff --git a/ros_gz_sim_demos/launch/ros_gz.launch.py b/ros_gz_sim_demos/launch/ros_gz.launch.py
new file mode 100644
index 00000000..c1c00938
--- /dev/null
+++ b/ros_gz_sim_demos/launch/ros_gz.launch.py
@@ -0,0 +1,42 @@
+# Copyright 2024 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 IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+
+
+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')
+
+    gazebo = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'),
+        ),
+        launch_arguments={'gz_args': PathJoinSubstitution([
+            pkg_ros_gz_sim_demos,
+            'worlds',
+            'ros_gz.sdf'
+        ])}.items(),
+    )
+
+    return LaunchDescription([
+        gazebo,
+    ])
diff --git a/ros_gz_sim_demos/worlds/ros_gz.sdf b/ros_gz_sim_demos/worlds/ros_gz.sdf
new file mode 100644
index 00000000..7aa37830
--- /dev/null
+++ b/ros_gz_sim_demos/worlds/ros_gz.sdf
@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<!--
+  ROS 2 <-> Gazebo Sim plugin demo.
+
+-->
+<sdf version="1.8">
+  <world name="demo">
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-contact-system"
+      name="gz::sim::systems::Contact">
+    </plugin>
+
+    <light name="sun" type="directional">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <plugin name="ros_gz_sim::ROSGzBridge"
+            filename="ros-gz-bridge-system">
+      <config_file>package://ros_gz_bridge/test/config/full.yaml</config_file>
+    </plugin>
+
+  </world>
+</sdf>