diff --git a/ros_gz_example_bringup/CMakeLists.txt b/ros_gz_example_bringup/CMakeLists.txt
index 0ad1251..2d6b8e6 100644
--- a/ros_gz_example_bringup/CMakeLists.txt
+++ b/ros_gz_example_bringup/CMakeLists.txt
@@ -12,6 +12,8 @@ set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 find_package(gz-sim7 REQUIRED)
 set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 
+find_package(sdformat_urdf)
+
 # Install project launch files
 install(
   DIRECTORY
diff --git a/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml b/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml
index 0c34f9d..c0ae093 100644
--- a/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml
+++ b/ros_gz_example_bringup/config/ros_gz_example_bridge.yaml
@@ -4,6 +4,11 @@
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: ROS_TO_GZ
+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
 - ros_topic_name: "/diff_drive/odometry"
   gz_topic_name: "/model/diff_drive/odometry"
   ros_type_name: "nav_msgs/msg/Odometry"
@@ -14,4 +19,19 @@
   ros_type_name: "sensor_msgs/msg/LaserScan"
   gz_type_name: "gz.msgs.LaserScan"
   direction: GZ_TO_ROS
+- ros_topic_name: "/world/demo/model/diff_drive"
+  gz_topic_name: "/joint_state"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "gz.msgs.Model"
+  direction: GZ_TO_ROS
+- ros_topic_name: "/model/diff_drive/"
+  gz_topic_name: "/pose"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
+- ros_topic_name: "/model/diff_drive/"
+  gz_topic_name: "/pose_static"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "gz.msgs.Pose_V"
+  direction: GZ_TO_ROS
 
diff --git a/ros_gz_example_bringup/launch/diff_drive.launch.py b/ros_gz_example_bringup/launch/diff_drive.launch.py
index 4f79d93..950082e 100644
--- a/ros_gz_example_bringup/launch/diff_drive.launch.py
+++ b/ros_gz_example_bringup/launch/diff_drive.launch.py
@@ -29,6 +29,12 @@
 def generate_launch_description():
     pkg_project_bringup = get_package_share_directory('ros_gz_example_bringup')
     pkg_project_gazebo = get_package_share_directory('ros_gz_example_gazebo')
+    pkg_project_description = get_package_share_directory('ros_gz_example_description')
+
+    sdf_file  =  os.path.join(pkg_project_description, 'models', 'diff_drive', 'model.sdf')
+
+    with open(sdf_file, 'r') as infp:
+        robot_desc = infp.read()
 
     pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
 
@@ -42,12 +48,15 @@ def generate_launch_description():
         ])}.items(),
     )
 
-    # RViz
-    rviz = Node(
-       package='rviz2',
-       executable='rviz2',
-       arguments=['-d', os.path.join(pkg_project_bringup, 'rviz', 'diff_drive.rviz')],
-       condition=IfCondition(LaunchConfiguration('rviz'))
+    robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='both',
+        parameters=[
+            {'use_sim_time': True},
+            {'robot_description': robot_desc},
+        ]
     )
 
     # Bridge
@@ -61,10 +70,20 @@ def generate_launch_description():
         output='screen'
     )
 
+    # RViz
+    rviz = Node(
+       package='rviz2',
+       executable='rviz2',
+       arguments=['-d', os.path.join(pkg_project_bringup, 'rviz', 'diff_drive.rviz')],
+       condition=IfCondition(LaunchConfiguration('rviz'))
+    )
+
+
     return LaunchDescription([
         gz_sim,
         DeclareLaunchArgument('rviz', default_value='true',
                               description='Open RViz.'),
         bridge,
+        robot_state_publisher,
         rviz
     ])
diff --git a/ros_gz_example_bringup/rviz/diff_drive.rviz b/ros_gz_example_bringup/rviz/diff_drive.rviz
index 6a1723c..888efe9 100644
--- a/ros_gz_example_bringup/rviz/diff_drive.rviz
+++ b/ros_gz_example_bringup/rviz/diff_drive.rviz
@@ -6,10 +6,12 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /LaserScan1
-        - /LaserScan1/Status1
+        - /Grid1
+        - /RobotModel1
+        - /RobotModel1/Status1
+        - /RobotModel1/Links1
       Splitter Ratio: 0.5
-    Tree Height: 1079
+    Tree Height: 555
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -27,7 +29,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: LaserScan
+    SyncSource: ""
 Visualization Manager:
   Class: ""
   Displays:
@@ -50,43 +52,60 @@ Visualization Manager:
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz_default_plugins/LaserScan
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 0
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: LaserScan
-      Position Transformer: XYZ
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.009999999776482582
-      Style: Points
-      Topic:
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
         Depth: 5
         Durability Policy: Volatile
-        Filter size: 10
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: /diff_drive/scan
-      Use Fixed Frame: true
-      Use rainbow: true
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        chassis:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: diff_drive
+      Update Interval: 0
       Value: true
+      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: diff_drive/lidar_link/gpu_lidar
+    Fixed Frame: diff_drive/odom
     Frame Rate: 30
   Name: root
   Tools:
@@ -129,33 +148,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 43.2213249206543
+      Distance: 10
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.38051652908325195
-        Y: -1.564827799797058
-        Z: 1.3577169179916382
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6403982639312744
+      Pitch: 0.785398006439209
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.4303994178771973
+      Yaw: 0.785398006439209
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1376
+  Height: 846
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000239000004c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004c2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006ac000004c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002d8000002b4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002b4000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000002b4000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000000bd000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -164,6 +183,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 2560
-  X: 1440
-  Y: 1147
+  Width: 1200
+  X: 72
+  Y: 60
diff --git a/template_workspace.yaml b/template_workspace.yaml
index 1fd2112..390974c 100644
--- a/template_workspace.yaml
+++ b/template_workspace.yaml
@@ -8,4 +8,8 @@ repositories:
   ros_gz:
     type: git
     url: https://github.com/gazebosim/ros_gz.git
+    version: ros2
+  sdformat_urdf:
+    type: git
+    url: https://github.com/ros/sdformat_urdf.git
     version: ros2
\ No newline at end of file