diff --git a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
index 88ae1f81..0c22bf4d 100644
--- a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
+++ b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
@@ -90,13 +90,8 @@
 
   <gazebo>
     <!-- Joint state publisher -->
-<<<<<<< HEAD
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_tests)/config/cartpole_controller_position.yaml</parameters>
-=======
-    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
       <parameters>$(find gz_ros2_control_tests)/config/cart_controller_position.yaml</parameters>
->>>>>>> 7e388fa (Rename cartpole with cart (#214))
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
index cf9b4256..5c0b3e96 100644
--- a/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
@@ -78,13 +78,8 @@
 
   <gazebo>
     <!-- Joint state publisher -->
-<<<<<<< HEAD:ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_effort.yaml</parameters>
-=======
-    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
->>>>>>> 7e388fa (Rename cartpole with cart (#214)):gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
index 7c4ecc9c..7dc19a5c 100644
--- a/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
@@ -78,13 +78,8 @@
 
   <gazebo>
     <!-- Joint state publisher -->
-<<<<<<< HEAD:ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_position.yaml</parameters>
-=======
-    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
->>>>>>> 7e388fa (Rename cartpole with cart (#214)):gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
index aec91507..8b91c252 100644
--- a/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
@@ -156,13 +156,8 @@
 
   <gazebo>
     <!-- Joint state publisher -->
-<<<<<<< HEAD:ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_velocity.yaml</parameters>
-=======
-    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
->>>>>>> 7e388fa (Rename cartpole with cart (#214)):gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
     </plugin>
     <plugin
       filename="ignition-gazebo-imu-system"