diff --git a/leo_gz_bringup/launch/leo_gz.launch.py b/leo_gz_bringup/launch/leo_gz.launch.py
index 06c6498..b4713e8 100644
--- a/leo_gz_bringup/launch/leo_gz.launch.py
+++ b/leo_gz_bringup/launch/leo_gz.launch.py
@@ -70,7 +70,7 @@ def generate_launch_description():
         executable="parameter_bridge",
         name="clock_bridge",
         arguments=[
-            "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
         ],
         parameters=[
             {
diff --git a/leo_gz_bringup/launch/spawn_robot.launch.py b/leo_gz_bringup/launch/spawn_robot.launch.py
index 9afcd9d..c90e9e3 100644
--- a/leo_gz_bringup/launch/spawn_robot.launch.py
+++ b/leo_gz_bringup/launch/spawn_robot.launch.py
@@ -84,13 +84,13 @@ def spawn_robot(context: LaunchContext, namespace: LaunchConfiguration):
         executable="parameter_bridge",
         name=node_name_prefix + "parameter_bridge",
         arguments=[
-            robot_ns + "/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist",
-            robot_ns + "/odom@nav_msgs/msg/Odometry[ignition.msgs.Odometry",
-            robot_ns + "/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V",
-            robot_ns + "/imu/data_raw@sensor_msgs/msg/Imu[ignition.msgs.IMU",
+            robot_ns + "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+            robot_ns + "/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry",
+            robot_ns + "/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V",
+            robot_ns + "/imu/data_raw@sensor_msgs/msg/Imu[gz.msgs.IMU",
             robot_ns
-            + "/camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
-            robot_ns + "/joint_states@sensor_msgs/msg/JointState[ignition.msgs.Model",
+            + "/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            robot_ns + "/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model",
         ],
         parameters=[
             {
diff --git a/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv b/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
index 75c343d..0cefc7b 100644
--- a/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
+++ b/leo_gz_plugins/hooks/gz_sim_system_plugin_path.dsv
@@ -1,2 +1 @@
-prepend-non-duplicate;IGN_GAZEBO_SYSTEM_PLUGIN_PATH;lib
 prepend-non-duplicate;GZ_SIM_SYSTEM_PLUGIN_PATH;lib
\ No newline at end of file
diff --git a/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in b/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
index 31b60e7..0858a47 100644
--- a/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
+++ b/leo_gz_worlds/hooks/gz_sim_resource_path.dsv.in
@@ -1,2 +1 @@
-prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/worlds;share/@PROJECT_NAME@/models
 prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/@PROJECT_NAME@/worlds;share/@PROJECT_NAME@/models
\ No newline at end of file
diff --git a/leo_gz_worlds/worlds/leo_empty.sdf b/leo_gz_worlds/worlds/leo_empty.sdf
index 33636e8..a689fd9 100644
--- a/leo_gz_worlds/worlds/leo_empty.sdf
+++ b/leo_gz_worlds/worlds/leo_empty.sdf
@@ -10,21 +10,20 @@
     </physics>
 
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-sensors-system"
-      name="ignition::gazebo::systems::Sensors">
-      <render_engine>ogre2</render_engine>
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
 
     <light name="sun" type="directional">
diff --git a/leo_gz_worlds/worlds/marsyard2020.sdf b/leo_gz_worlds/worlds/marsyard2020.sdf
index 8788738..e917619 100644
--- a/leo_gz_worlds/worlds/marsyard2020.sdf
+++ b/leo_gz_worlds/worlds/marsyard2020.sdf
@@ -10,21 +10,20 @@
     </physics>
     
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-sensors-system"
-      name="ignition::gazebo::systems::Sensors">
-      <render_engine>ogre2</render_engine>
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
 
     <light name="sun" type="directional">
diff --git a/leo_gz_worlds/worlds/marsyard2021.sdf b/leo_gz_worlds/worlds/marsyard2021.sdf
index dac2054..76af479 100644
--- a/leo_gz_worlds/worlds/marsyard2021.sdf
+++ b/leo_gz_worlds/worlds/marsyard2021.sdf
@@ -11,13 +11,12 @@
     </physics>
     
     <plugin
-      filename="ignition-gazebo-physics-system"
+      filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      <render_engine>ogre2</render_engine>
     </plugin>
     <plugin
       filename="gz-sim-scene-broadcaster-system"
diff --git a/leo_gz_worlds/worlds/marsyard2022.sdf b/leo_gz_worlds/worlds/marsyard2022.sdf
index f4826fa..5d4e1ef 100644
--- a/leo_gz_worlds/worlds/marsyard2022.sdf
+++ b/leo_gz_worlds/worlds/marsyard2022.sdf
@@ -11,13 +11,12 @@
     </physics>
     
     <plugin
-      filename="ignition-gazebo-physics-system"
+      filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
     <plugin
       filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
-      <render_engine>ogre2</render_engine>
     </plugin>
     <plugin
       filename="gz-sim-scene-broadcaster-system"