diff --git a/lbr_bringup/launch/gazebo.launch.py b/lbr_bringup/launch/gazebo.launch.py
index 0ff93e5b..bc1ff586 100644
--- a/lbr_bringup/launch/gazebo.launch.py
+++ b/lbr_bringup/launch/gazebo.launch.py
@@ -38,10 +38,10 @@ def generate_launch_description() -> LaunchDescription:
 
     # Gazebo
     ld.add_action(GazeboMixin.include_gazebo())  # Gazebo has its own controller manager
-    spawn_entity = GazeboMixin.node_spawn_entity(
-        tf=world_robot_tf
+    ld.add_action(GazeboMixin.node_clock_bridge())
+    ld.add_action(
+        GazeboMixin.node_create(tf=world_robot_tf)
     )  # spawns robot in Gazebo through robot_description topic of robot_state_publisher
-    ld.add_action(spawn_entity)
 
     # controllers
     joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
index 3d1f0bdd..8a966915 100644
--- a/lbr_bringup/launch/move_group.launch.py
+++ b/lbr_bringup/launch/move_group.launch.py
@@ -75,6 +75,10 @@ def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
                 "robot_description_semantic",
                 PathJoinSubstitution([robot_name, "robot_description_semantic"]),
             ),
+            (
+                "recognized_object_array",
+                PathJoinSubstitution([robot_name, "recognized_object_array"]),
+            ),
         ],
         condition=IfCondition(LaunchConfiguration("rviz")),
     )
diff --git a/lbr_bringup/lbr_bringup/gazebo.py b/lbr_bringup/lbr_bringup/gazebo.py
index 145e052d..07e74c6c 100644
--- a/lbr_bringup/lbr_bringup/gazebo.py
+++ b/lbr_bringup/lbr_bringup/gazebo.py
@@ -14,17 +14,18 @@ def include_gazebo(**kwargs) -> IncludeLaunchDescription:
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
                     [
-                        FindPackageShare("gazebo_ros"),
+                        FindPackageShare("ros_gz_sim"),
                         "launch",
-                        "gazebo.launch.py",
+                        "gz_sim.launch.py",
                     ]
-                )
+                ),
             ),
+            launch_arguments={"gz_args": "-r empty.sdf"}.items(),
             **kwargs,
         )
 
     @staticmethod
-    def node_spawn_entity(
+    def node_create(
         robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
             "robot_name", default="lbr"
         ),
@@ -34,16 +35,27 @@ def node_spawn_entity(
         label = ["-x", "-y", "-z", "-R", "-P", "-Y"]
         tf = [str(x) for x in tf]
         return Node(
-            package="gazebo_ros",
-            executable="spawn_entity.py",
+            package="ros_gz_sim",
+            executable="create",
             arguments=[
                 "-topic",
                 "robot_description",
-                "-entity",
+                "-name",
                 robot_name,
+                "-allow_renaming",
             ]
             + [item for pair in zip(label, tf) for item in pair],
             output="screen",
             namespace=robot_name,
             **kwargs,
         )
+
+    @staticmethod
+    def node_clock_bridge(**kwargs) -> Node:
+        return Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
+            output="screen",
+            **kwargs,
+        )
diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
index eb6bc33e..b89b0ea8 100644
--- a/lbr_bringup/package.xml
+++ b/lbr_bringup/package.xml
@@ -20,6 +20,7 @@
   <exec_depend>rclpy</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
 
diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
index 12270f9e..a828c0d5 100644
--- a/lbr_description/gazebo/lbr_gazebo.xacro
+++ b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -9,8 +9,6 @@
                 <parameters>$(find lbr_ros2_control)/config/lbr_controllers.yaml</parameters>
                 <ros>
                     <namespace>/${robot_name}</namespace>
-                    <!-- remapping for controller manager inside Gazebo plugin -->
-                    <remapping>~/robot_description:=robot_description</remapping>
                 </ros>
             </plugin>
         </gazebo>
diff --git a/lbr_description/lbr_description.dsv b/lbr_description/lbr_description.dsv
index a00fa973..84de9292 100644
--- a/lbr_description/lbr_description.dsv
+++ b/lbr_description/lbr_description.dsv
@@ -1 +1 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
\ No newline at end of file
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share
\ No newline at end of file
diff --git a/lbr_ros2_control/config/lbr_system_interface.xacro b/lbr_ros2_control/config/lbr_system_interface.xacro
index 051eda61..23738b9a 100644
--- a/lbr_ros2_control/config/lbr_system_interface.xacro
+++ b/lbr_ros2_control/config/lbr_system_interface.xacro
@@ -100,7 +100,7 @@
                     </command_interface>
                     <!-- only single command interface, refer
                     https://github.com/ros-controls/gz_ros2_control/issues/182 -->
-                    <xacro:unless value="${sim}">
+                    <xacro:unless value="${mode == 'gazebo'}">
                         <command_interface name="effort">
                             <param name="min">-${max_torque}</param>
                             <param name="max"> ${max_torque}</param>