diff --git a/doc/index.rst b/doc/index.rst
index 8ca86ac1..268ee24a 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -146,7 +146,7 @@ robot hardware interfaces between *ros2_control* and Gazebo.
       <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+        <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       </plugin>
   </gazebo>
 
@@ -201,32 +201,18 @@ and use the tag ``<controller_manager_prefix_node_name>`` to set the controller
 
   <gazebo>
     <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
     </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_trajectory_controller``: This controller creates an action called ``/joint_trajectory_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
 
-  joint_state_controller:
-    ros__parameters:
-      type: joint_state_controller/JointStateController
-
-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:: ../gz_ros2_control_demos/config/cart_controller_position.yaml
+   :language: yaml
 
 
 gz_ros2_control_demos
diff --git a/gz_ros2_control_demos/config/cartpole_controller_effort.yaml b/gz_ros2_control_demos/config/cart_controller_effort.yaml
similarity index 100%
rename from gz_ros2_control_demos/config/cartpole_controller_effort.yaml
rename to gz_ros2_control_demos/config/cart_controller_effort.yaml
diff --git a/gz_ros2_control_demos/config/cartpole_controller_position.yaml b/gz_ros2_control_demos/config/cart_controller_position.yaml
similarity index 100%
rename from gz_ros2_control_demos/config/cartpole_controller_position.yaml
rename to gz_ros2_control_demos/config/cart_controller_position.yaml
diff --git a/gz_ros2_control_demos/config/cartpole_controller_velocity.yaml b/gz_ros2_control_demos/config/cart_controller_velocity.yaml
similarity index 100%
rename from gz_ros2_control_demos/config/cartpole_controller_velocity.yaml
rename to gz_ros2_control_demos/config/cart_controller_velocity.yaml
diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
index da7e1e10..2878452f 100644
--- a/gz_ros2_control_demos/launch/cart_example_effort.launch.py
+++ b/gz_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_demos/launch/cart_example_position.launch.py b/gz_ros2_control_demos/launch/cart_example_position.launch.py
index 3886d1b9..1cfa34e8 100644
--- a/gz_ros2_control_demos/launch/cart_example_position.launch.py
+++ b/gz_ros2_control_demos/launch/cart_example_position.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
index ce3d6269..4cc21c20 100644
--- a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
+++ b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
index 96543050..ebc943eb 100644
--- a/gz_ros2_control_demos/launch/diff_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'diff_drive',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
index cf8eb280..e5084a87 100644
--- a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
+++ b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'tricyle',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
index cd70aa02..1ff5f42b 100644
--- a/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
@@ -1,8 +1,4 @@
 <?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">
   <link name="world"/>
   <link name="slideBar">
@@ -83,7 +79,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_effort.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
index a7faaac7..90abd587 100644
--- a/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?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">
   <link name="world"/>
   <link name="slideBar">
@@ -95,7 +91,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf b/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
index 71b0c93f..37b062af 100644
--- a/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
+++ b/gz_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
@@ -1,8 +1,4 @@
 <?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">
   <link name="world"/>
   <link name="slideBar">
@@ -166,7 +162,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller_velocity.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
     </plugin>
     <plugin
       filename="ignition-sim-imu-system"
diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py
index ae0da5af..7080c719 100755
--- a/gz_ros2_control_tests/tests/position_test.py
+++ b/gz_ros2_control_tests/tests/position_test.py
@@ -77,7 +77,7 @@ def generate_test_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
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 b6f4ca4c..c9537b8d 100644
--- a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
+++ b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?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">
   <link name="world"/>
   <link name="slideBar">
@@ -95,7 +91,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_tests)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find gz_ros2_control_tests)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>