diff --git a/doc/index.rst b/doc/index.rst
index 829f71da..e24a2308 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -146,7 +146,7 @@ robot hardware interfaces between *ros2_control* and Gazebo Classic.
       <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find gazebo_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+        <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
       </plugin>
   </gazebo>
 
@@ -202,32 +202,18 @@ Use the tag ``<parameters>`` inside ``<plugin>`` to set the YAML file with the c
 
   <gazebo>
     <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
-      <parameters>$(find gazebo_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
     </plugin>
   <gazebo>
 
-This controller publishes the state of all resources registered to a
-``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
-The following is a basic configuration of the controller.
+The following is a basic configuration of the controllers:
 
-.. code-block:: yaml
+- ``joint_state_broadcaster``: This controller publishes the state of all resources registered to a ``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
 
-  joint_state_controller:
-    ros__parameters:
-      type: joint_state_controller/JointStateController
+- ``joint_trajectory_controller``: This controller creates an action called ``/joint_trajectory_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
 
-
-This controller creates an action called ``/cart_pole_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
-
-.. code-block:: yaml
-
-  cart_pole_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - slider_to_cart
-      write_op_modes:
-        - slider_to_cart
+.. literalinclude:: ../gazebo_ros2_control_demos/config/cart_controller.yaml
+   :language: yaml
 
 gazebo_ros2_control_demos
 ==========================================
diff --git a/gazebo_ros2_control_demos/config/cartpole_controller.yaml b/gazebo_ros2_control_demos/config/cart_controller.yaml
similarity index 100%
rename from gazebo_ros2_control_demos/config/cartpole_controller.yaml
rename to gazebo_ros2_control_demos/config/cart_controller.yaml
diff --git a/gazebo_ros2_control_demos/config/cartpole_controller_effort.yaml b/gazebo_ros2_control_demos/config/cart_controller_effort.yaml
similarity index 100%
rename from gazebo_ros2_control_demos/config/cartpole_controller_effort.yaml
rename to gazebo_ros2_control_demos/config/cart_controller_effort.yaml
diff --git a/gazebo_ros2_control_demos/config/cartpole_controller_velocity.yaml b/gazebo_ros2_control_demos/config/cart_controller_velocity.yaml
similarity index 100%
rename from gazebo_ros2_control_demos/config/cartpole_controller_velocity.yaml
rename to gazebo_ros2_control_demos/config/cart_controller_velocity.yaml
diff --git a/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py b/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
index 95caf297..7b0c5036 100644
--- a/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
+++ b/gazebo_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -53,10 +53,10 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'cart'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -71,12 +71,12 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_joint_trajectory_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/launch/cart_example_position.launch.py b/gazebo_ros2_control_demos/launch/cart_example_position.launch.py
index d5aae851..b741e849 100644
--- a/gazebo_ros2_control_demos/launch/cart_example_position.launch.py
+++ b/gazebo_ros2_control_demos/launch/cart_example_position.launch.py
@@ -53,10 +53,10 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'cart'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -72,12 +72,12 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_joint_trajectory_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py b/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py
index c155e34a..ea853dee 100644
--- a/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py
+++ b/gazebo_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -52,10 +52,10 @@ def generate_launch_description():
 
     spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                         arguments=['-topic', 'robot_description',
-                                   '-entity', 'cartpole'],
+                                   '-entity', 'cart'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -75,12 +75,12 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_joint_trajectory_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/launch/diff_drive.launch.py b/gazebo_ros2_control_demos/launch/diff_drive.launch.py
index 97913bde..faa476db 100644
--- a/gazebo_ros2_control_demos/launch/diff_drive.launch.py
+++ b/gazebo_ros2_control_demos/launch/diff_drive.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
                                    '-entity', 'diffbot'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -72,12 +72,12 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_diff_drive_base_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py b/gazebo_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
index ef3a7f75..85b65398 100644
--- a/gazebo_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
+++ b/gazebo_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
                                    '-entity', 'gripper'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -73,12 +73,12 @@ def generate_launch_description():
         RegisterEventHandler(
           event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_gripper_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py b/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py
index 1a3cf07c..a857248a 100644
--- a/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py
+++ b/gazebo_ros2_control_demos/launch/tricycle_drive.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
                                    '-entity', 'tricycle'],
                         output='screen')
 
-    load_joint_state_controller = ExecuteProcess(
+    load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
              'joint_state_broadcaster'],
         output='screen'
@@ -82,12 +82,12 @@ def generate_launch_description():
         RegisterEventHandler(
             event_handler=OnProcessExit(
                 target_action=spawn_entity,
-                on_exit=[load_joint_state_controller],
+                on_exit=[load_joint_state_broadcaster],
             )
         ),
         RegisterEventHandler(
             event_handler=OnProcessExit(
-                target_action=load_joint_state_controller,
+                target_action=load_joint_state_broadcaster,
                 on_exit=[load_tricycle_controller],
             )
         ),
diff --git a/gazebo_ros2_control_demos/urdf/test_cart_effort.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
index 523bca36..35d13c12 100644
--- a/gazebo_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
+++ b/gazebo_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
@@ -1,9 +1,5 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="cartopole">
+<robot name="cart">
   <link name="world"/>
   <link name="slideBar">
     <visual>
@@ -68,7 +64,7 @@
 
   <gazebo>
     <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      <parameters>$(find gazebo_ros2_control_demos)/config/cartpole_controller_effort.yaml</parameters>
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gazebo_ros2_control_demos/urdf/test_cart_position.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_cart_position.xacro.urdf
index be1829d0..8ab12f82 100644
--- a/gazebo_ros2_control_demos/urdf/test_cart_position.xacro.urdf
+++ b/gazebo_ros2_control_demos/urdf/test_cart_position.xacro.urdf
@@ -1,9 +1,5 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="cartopole">
+<robot name="cart">
   <link name="world"/>
   <link name="slideBar">
     <visual>
@@ -67,7 +63,7 @@
 
   <gazebo>
     <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      <parameters>$(find gazebo_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gazebo_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
index 08e28d1b..09939e8d 100644
--- a/gazebo_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
+++ b/gazebo_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
@@ -1,9 +1,5 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="cartopole">
+<robot name="cart">
   <link name="world"/>
   <link name="slideBar">
     <visual>
@@ -97,7 +93,7 @@
 
   <gazebo>
     <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      <parameters>$(find gazebo_ros2_control_demos)/config/cartpole_controller_velocity.yaml</parameters>
+      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>