diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch
index 74f10d64..cc6b04fc 100644
--- a/ros_gz_sim/launch/ros_gz_sim.launch
+++ b/ros_gz_sim/launch/ros_gz_sim.launch
@@ -1,7 +1,26 @@
 <launch>
-  <gz_server 
-    world_sdf_file="empty.sdf" />
+  <arg name="name" />
+  <arg name="config_file" default="" />
+  <arg name="container_name" default="ros_gz_container" />
+  <arg name="namespace" default="" />
+  <arg name="use_composition" default="True" />
+  <arg name="use_respawn" default="False" />
+  <arg name="log_level" default="info" />
+  <arg name="world_sdf_file" default="empty.sdf" />
+  <arg name="world_sdf_string" default="" />
+  <gz_server
+    world_sdf_file="$(var world_sdf_file)"
+    world_sdf_string="$(var world_sdf_string)"
+    container_name="$(var container_name)"
+    use_composition="$(var use_composition)">
+  </gz_server>
   <ros_gz_bridge
-    name="bridge"
-    config_file="/home/caguero/ros_gz_ws/src/ros_gz/ros_gz_bridge/test/config/full.yaml" />
+    name="$(var name)"
+    config_file="$(var config_file)"
+    container_name="$(var container_name)"
+    namespace="$(var namespace)"
+    use_composition="$(var use_composition)"
+    use_respawn="$(var use_respawn)"
+    log_level="$(var log_level)">
+  </ros_gz_bridge>
 </launch>