diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt
index 8e0f580a..9b69104b 100644
--- a/ros_gz_sim_demos/CMakeLists.txt
+++ b/ros_gz_sim_demos/CMakeLists.txt
@@ -9,6 +9,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  DIRECTORY
+    config/
+  DESTINATION share/${PROJECT_NAME}/config
+)
+
 install(
   DIRECTORY
     launch/
diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index c404a4dc..62c670f9 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -14,7 +14,7 @@ There's a convenient launch file, try for example:
 
 Publishes fluid pressure readings.
 
-    ros2 launch ros_gz_sim_demos air_pressure.launch.py
+    ros2 launch ros_gz_sim_demos air_pressure.launch.xml
 
 This demo also shows the use of custom QoS parameters. The sensor data is
 published as as "best-effort", so trying to subscribe to "reliable" data won't
diff --git a/ros_gz_sim_demos/config/air_pressure.yaml b/ros_gz_sim_demos/config/air_pressure.yaml
new file mode 100644
index 00000000..36ad5f67
--- /dev/null
+++ b/ros_gz_sim_demos/config/air_pressure.yaml
@@ -0,0 +1,6 @@
+# Air pressure bridge configuration.
+- topic_name: "air_pressure"
+  ros_type_name: "sensor_msgs/msg/FluidPressure"
+  gz_type_name: "gz.msgs.FluidPressure"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/air_pressure.launch.py b/ros_gz_sim_demos/launch/air_pressure.launch.py
deleted file mode 100644
index 2a422b34..00000000
--- a/ros_gz_sim_demos/launch/air_pressure.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.
-
-"""Launch Gazebo Sim with command line arguments."""
-
-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')
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['/air_pressure@sensor_msgs/msg/FluidPressure@gz.msgs.FluidPressure'],
-        parameters=[{'qos_overrides./air_pressure.publisher.reliability': 'best_effort'}],
-        output='screen'
-    )
-
-    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'))
-    )
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rqt', default_value='true',
-                              description='Open RQt.'),
-        bridge,
-        rqt
-    ])
diff --git a/ros_gz_sim_demos/launch/air_pressure.launch.xml b/ros_gz_sim_demos/launch/air_pressure.launch.xml
new file mode 100644
index 00000000..9fd33397
--- /dev/null
+++ b/ros_gz_sim_demos/launch/air_pressure.launch.xml
@@ -0,0 +1,16 @@
+<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/air_pressure.yaml"
+    use_composition="true">
+    <param name="qos_overrides./air_pressure.publisher.reliability" value='best_effort'></param>
+  </ros_gz_bridge>
+  <node pkg="rqt_topic" exec="rqt_topic">
+    <param name="qos_overrides./air_pressure.subscription.reliability" value="best_effort"/>
+  </node>
+  <executable cmd="gz sim -g" />
+</launch>