diff --git a/ign_ros2_control_demos/config/cartpole_controller_effort.yaml b/ign_ros2_control_demos/config/cartpole_controller_effort.yaml
deleted file mode 100644
index 920e4651..00000000
--- a/ign_ros2_control_demos/config/cartpole_controller_effort.yaml
+++ /dev/null
@@ -1,14 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000  # Hz
-
-    effort_controller:
-      type: effort_controllers/JointGroupEffortController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-effort_controller:
-  ros__parameters:
-    joints:
-      - slider_to_cart
diff --git a/ign_ros2_control_demos/config/cartpole_controller_position.yaml b/ign_ros2_control_demos/config/cartpole_controller_position.yaml
deleted file mode 100644
index f51d2fa5..00000000
--- a/ign_ros2_control_demos/config/cartpole_controller_position.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 100  # Hz
-
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - slider_to_cart
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
diff --git a/ign_ros2_control_demos/config/cartpole_controller_velocity.yaml b/ign_ros2_control_demos/config/cartpole_controller_velocity.yaml
deleted file mode 100644
index 7215d760..00000000
--- a/ign_ros2_control_demos/config/cartpole_controller_velocity.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000  # Hz
-
-    velocity_controller:
-      type: velocity_controllers/JointGroupVelocityController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    imu_sensor_broadcaster:
-      type: imu_sensor_broadcaster/IMUSensorBroadcaster
-
-velocity_controller:
-  ros__parameters:
-    joints:
-      - slider_to_cart
-
-imu_sensor_broadcaster:
-  ros__parameters:
-    sensor_name: cart_imu_sensor
-    frame_id: imu