diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md
index 2774a009..dc00d300 100644
--- a/ros_gz_sim_demos/README.md
+++ b/ros_gz_sim_demos/README.md
@@ -114,7 +114,7 @@ GPU lidar data can be obtained as:
 
 Using the bridge:
 
-    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py
+    ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.xml
 
 *TODO*: Blocked by `ros_gz_point_cloud` [issue](https://github.com/gazebosim/ros_gz/issues/40).
 
diff --git a/ros_gz_sim_demos/config/gpu_lidar.yaml b/ros_gz_sim_demos/config/gpu_lidar.yaml
new file mode 100644
index 00000000..3a549383
--- /dev/null
+++ b/ros_gz_sim_demos/config/gpu_lidar.yaml
@@ -0,0 +1,12 @@
+# GPU lidar configuration.
+- topic_name: "/lidar"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "gz.msgs.LaserScan"
+  lazy: true
+  direction: GZ_TO_ROS
+
+- topic_name: "/lidar/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  lazy: true
+  direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py
deleted file mode 100644
index 42998efa..00000000
--- a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.py
+++ /dev/null
@@ -1,65 +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 gpu_lidar_sensor.sdf'
-        }.items(),
-    )
-
-    # RViz
-    rviz = Node(
-       package='rviz2',
-       executable='rviz2',
-       arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'gpu_lidar_bridge.rviz')],
-       condition=IfCondition(LaunchConfiguration('rviz'))
-    )
-
-    # Bridge
-    bridge = Node(
-        package='ros_gz_bridge',
-        executable='parameter_bridge',
-        arguments=['lidar@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan',
-                   '/lidar/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        gz_sim,
-        DeclareLaunchArgument('rviz', default_value='true',
-                              description='Open RViz.'),
-        bridge,
-        rviz,
-    ])
diff --git a/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml
new file mode 100644
index 00000000..c56f551a
--- /dev/null
+++ b/ros_gz_sim_demos/launch/gpu_lidar_bridge.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+  <gz_server
+    world_sdf_file="gpu_lidar_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/gpu_lidar.yaml"
+    use_composition="True" />
+  <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share ros_gz_sim_demos)/rviz/gpu_lidar_bridge.rviz" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id map  --child-frame-id model_with_lidar/link/gpu_lidar --x 4.05 --y 0.05 --z 0.55" />
+  <executable cmd="gz sim -g" />
+</launch>
diff --git a/ros_gz_sim_demos/rviz/gpu_lidar_bridge.rviz b/ros_gz_sim_demos/rviz/gpu_lidar_bridge.rviz
index 318229b3..a45ccf6b 100644
--- a/ros_gz_sim_demos/rviz/gpu_lidar_bridge.rviz
+++ b/ros_gz_sim_demos/rviz/gpu_lidar_bridge.rviz
@@ -5,15 +5,12 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /LaserScan1/Status1
-        - /PointCloud21/Status1
       Splitter Ratio: 0.504601240158081
-    Tree Height: 701
+    Tree Height: 688
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
     Expanded:
-      - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
@@ -63,13 +60,17 @@ Visualization Manager:
       Min Intensity: 0
       Name: LaserScan
       Position Transformer: XYZ
-      Queue Size: 10
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /lidar
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lidar
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
@@ -83,30 +84,33 @@ Visualization Manager:
       Channel Name: intensity
       Class: rviz_default_plugins/PointCloud2
       Color: 255; 255; 255
-      Color Transformer: ""
+      Color Transformer: Intensity
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
+      Max Intensity: 0
       Min Color: 0; 0; 0
       Min Intensity: 0
       Name: PointCloud2
-      Position Transformer: ""
-      Queue Size: 10
+      Position Transformer: XYZ
       Selectable: true
       Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /lidar/points
-      Unreliable: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /lidar/points
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: model_with_lidar/link/gpu_lidar
+    Fixed Frame: map
     Frame Rate: 30
   Name: root
   Tools:
@@ -116,12 +120,30 @@ 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
@@ -129,25 +151,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 15.735194206237793
+      Distance: 15.508606910705566
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 2.550645589828491
-        Y: -0.290515273809433
-        Z: -1.1467934846878052
+        X: 3.5016579627990723
+        Y: -0.3921697437763214
+        Z: -0.31346774101257324
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7253980040550232
+      Pitch: 0.7553980350494385
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.7385823726654053
+      Yaw: 3.6435835361480713
     Saved: ~
 Window Geometry:
   Displays:
@@ -155,7 +177,7 @@ Window Geometry:
   Height: 846
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001ef000002f8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000002ed00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002f8000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002bb000002f800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ef000002f0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000002ed00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002f0000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000002bb000002f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Tool Properties:
@@ -163,5 +185,5 @@ Window Geometry:
   Views:
     collapsed: true
   Width: 1200
-  X: 338
-  Y: 1176
+  X: 1286
+  Y: 353