diff --git a/ur_simulation_gazebo/CMakeLists.txt b/ur_simulation_gazebo/CMakeLists.txt
index 4d8e988..63e3125 100644
--- a/ur_simulation_gazebo/CMakeLists.txt
+++ b/ur_simulation_gazebo/CMakeLists.txt
@@ -3,7 +3,7 @@ project(ur_simulation_gazebo)
 
 find_package(ament_cmake REQUIRED)
 
-install(DIRECTORY config launch
+install(DIRECTORY config launch urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/ur_simulation_gazebo/launch/ur_sim_control.launch.py b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
index 44d1a14..2dbe16d 100644
--- a/ur_simulation_gazebo/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gazebo/launch/ur_sim_control.launch.py
@@ -53,8 +53,6 @@ def launch_setup(context, *args, **kwargs):
     # General arguments
     runtime_config_package = LaunchConfiguration("runtime_config_package")
     controllers_file = LaunchConfiguration("controllers_file")
-    description_package = LaunchConfiguration("description_package")
-    description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
     start_joint_controller = LaunchConfiguration("start_joint_controller")
     initial_joint_controller = LaunchConfiguration("initial_joint_controller")
@@ -65,7 +63,7 @@ def launch_setup(context, *args, **kwargs):
     )
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "rviz", "view_robot.rviz"]
+        [FindPackageShare("ur_description"), "rviz", "view_robot.rviz"]
     )
 
     robot_description_content = Command(
@@ -73,7 +71,7 @@ def launch_setup(context, *args, **kwargs):
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare(description_package), "urdf", description_file]
+                [FindPackageShare("ur_simulation_gazebo"), "urdf", "ur_gazebo.urdf.xacro"]
             ),
             " ",
             "safety_limits:=",
@@ -94,8 +92,6 @@ def launch_setup(context, *args, **kwargs):
             "prefix:=",
             prefix,
             " ",
-            "sim_gazebo:=true",
-            " ",
             "simulation_controllers:=",
             initial_joint_controllers,
         ]
@@ -223,21 +219,6 @@ def generate_launch_description():
             description="YAML file with the controllers configuration.",
         )
     )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "description_package",
-            default_value="ur_description",
-            description="Description package with robot URDF/XACRO files. Usually the argument \
-        is not set, it enables use of a custom description.",
-        )
-    )
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "description_file",
-            default_value="ur.urdf.xacro",
-            description="URDF/XACRO description file with the robot.",
-        )
-    )
     declared_arguments.append(
         DeclareLaunchArgument(
             "prefix",
diff --git a/ur_simulation_gazebo/urdf/ur_gazebo.ros2_control.xacro b/ur_simulation_gazebo/urdf/ur_gazebo.ros2_control.xacro
new file mode 100644
index 0000000..85bd50a
--- /dev/null
+++ b/ur_simulation_gazebo/urdf/ur_gazebo.ros2_control.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:include filename="$(find ur_description)/urdf/inc/ur_joint_control.xacro" />
+
+  <xacro:macro name="ur_ros2_control" params="
+    name
+    tf_prefix
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
+    ">
+
+
+    <!-- Add URDF transmission elements (for ros_control) -->
+    <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->
+    <!-- Placeholder for ros2_control transmission which don't yet exist -->
+
+    <ros2_control name="${name}" type="system">
+      <hardware>
+        <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+
+      <xacro:ur_joint_control_description
+        tf_prefix="${tf_prefix}"
+        initial_positions="${initial_positions}"
+      />
+      </ros2_control>
+  </xacro:macro>
+</robot>
diff --git a/ur_simulation_gazebo/urdf/ur_gazebo.urdf.xacro b/ur_simulation_gazebo/urdf/ur_gazebo.urdf.xacro
new file mode 100644
index 0000000..1372fd5
--- /dev/null
+++ b/ur_simulation_gazebo/urdf/ur_gazebo.urdf.xacro
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="$(arg name)">
+  <!-- robot name parameter -->
+  <xacro:arg name="name" default="ur"/>
+  <!-- import main macro -->
+  <xacro:include filename="$(find ur_description)/urdf/ur_macro.xacro"/>
+
+  <xacro:include filename="$(find ur_simulation_gazebo)/urdf/ur_gazebo.ros2_control.xacro" />
+
+  <!-- possible 'ur_type' values: ur3, ur3e, ur5, ur5e, ur10, ur10e, ur16e, ur20 -->
+  <!-- the default value should raise an error in case this was called without defining the type -->
+  <xacro:arg name="ur_type" default="ur5x"/>
+
+  <!-- parameters -->
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:arg name="joint_limit_params" default="$(find ur_description)/config/$(arg ur_type)/joint_limits.yaml"/>
+  <xacro:arg name="kinematics_params" default="$(find ur_description)/config/$(arg ur_type)/default_kinematics.yaml"/>
+  <xacro:arg name="physical_params" default="$(find ur_description)/config/$(arg ur_type)/physical_parameters.yaml"/>
+  <xacro:arg name="visual_params" default="$(find ur_description)/config/$(arg ur_type)/visual_parameters.yaml"/>
+  <xacro:arg name="transmission_hw_interface" default=""/>
+  <xacro:arg name="safety_limits" default="false"/>
+  <xacro:arg name="safety_pos_margin" default="0.15"/>
+  <xacro:arg name="safety_k_position" default="20"/>
+
+  <xacro:arg name="simulation_controllers" default="" />
+
+  <!-- create link fixed to the "world" -->
+  <link name="world" />
+
+  <!-- arm -->
+  <xacro:ur_robot
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    parent="world"
+    joint_limits_parameters_file="$(arg joint_limit_params)"
+    kinematics_parameters_file="$(arg kinematics_params)"
+    physical_parameters_file="$(arg physical_params)"
+    visual_parameters_file="$(arg visual_params)"
+    safety_limits="$(arg safety_limits)"
+    safety_pos_margin="$(arg safety_pos_margin)"
+    safety_k_position="$(arg safety_k_position)"
+    force_abs_paths="true"
+    >
+    <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
+  </xacro:ur_robot>
+
+  <gazebo reference="world">
+  </gazebo>
+  <gazebo>
+    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+      <parameters>$(arg simulation_controllers)</parameters>
+    </plugin>
+  </gazebo>
+
+  <!-- ros2 control instance -->
+  <xacro:ur_ros2_control
+    name="$(arg name)"
+    tf_prefix="$(arg tf_prefix)"
+    transmission_hw_interface="$(arg transmission_hw_interface)"
+  />
+</robot>