diff --git a/README.md b/README.md
index 572bf2828..62ce88a8e 100644
--- a/README.md
+++ b/README.md
@@ -52,7 +52,7 @@ The following examples are part of this demo repository:
 
    *RRBot* with an exposed transmission interface.
 
-* Example 9: ["Gazebo classic simulation"](example_9)
+* Example 9: ["Gazebo simulation"](example_9)
 
    Demonstrates how to switch between simulation and hardware.
 
diff --git a/doc/index.rst b/doc/index.rst
index 0837344a5..be15df819 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -269,7 +269,7 @@ Examples
    Example 6: Modular robots with separate communication to each actuator <../example_6/doc/userdoc.rst>
    Example 7: Full tutorial with a 6DOF robot <../example_7/doc/userdoc.rst>
    Example 8: Using transmissions <../example_8/doc/userdoc.rst>
-   Example 9: Gazebo classic <../example_9/doc/userdoc.rst>
+   Example 9: Gazebo <../example_9/doc/userdoc.rst>
    Example 10: Industrial robot with GPIO interfaces <../example_10/doc/userdoc.rst>
    Example 11: CarlikeBot <../example_11/doc/userdoc.rst>
    Example 12: Controller chaining <../example_12/doc/userdoc.rst>
diff --git a/example_9/doc/userdoc.rst b/example_9/doc/userdoc.rst
index f5ba5bfcd..363e950d2 100644
--- a/example_9/doc/userdoc.rst
+++ b/example_9/doc/userdoc.rst
@@ -11,29 +11,7 @@ gazebo is used for this purpose.
 .. note::
 
   Follow the installation instructions on :ref:`ros2_control_demos_install` how to install all dependencies,
-  gazebo should be automatically installed.
-
-  * If you have installed and compiled this repository locally, you can directly use the commands below.
-  * If you have installed it via the provided docker image: To run the first two steps of this example (without gazebo), use the commands as described with :ref:`ros2_control_demos_install`. To run the later steps using gazebo, execute
-
-    .. code::
-
-      docker run -it --rm --name ros2_control_demos --net host ros2_control_demos ros2 launch ros2_control_demo_example_9 rrbot_gazebo.launch.py gui:=false
-
-    first. Then on your local machine you can run the gazebo client with
-
-    .. code-block:: shell
-
-      gzclient
-
-    and/or ``rviz2`` with
-
-    .. code-block:: shell
-
-      rviz2 -d src/ros2_control_demos/example_9/description/rviz/rrbot.rviz
-
-
-  For details on the ``gz_ros2_control`` plugin, see :ref:`gz_ros2_control`.
+  gazebo should be automatically installed. For details on the ``gz_ros2_control`` plugin, see :ref:`gz_ros2_control`.
 
 Tutorial steps
 --------------------------