diff --git a/urc_bringup/launch/sim.launch.py b/urc_bringup/launch/sim.launch.py
index 18ebda1f..5ccbc4c4 100644
--- a/urc_bringup/launch/sim.launch.py
+++ b/urc_bringup/launch/sim.launch.py
@@ -1,13 +1,16 @@
 import os
-from tempfile import NamedTemporaryFile
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+)
+from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution
 from launch_ros.descriptions import ParameterValue
 from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import Node
-from xacro import process_file
 
 
 def generate_launch_description():
@@ -45,18 +48,10 @@ def generate_launch_description():
     world_filename = LaunchConfiguration("world")
     walli_xacro_config = LaunchConfiguration("walli_xacro")
 
-    # Construct the full world path from the filename
     world_path = PathJoinSubstitution(
         [path_urc_hw_description, "world", world_filename]
     )
 
-    """
-    robot_urdf_file = process_file(
-        ParameterValue(walli_xacro_config, value_type = str),
-        mappings = {"use_sim": "true"}
-    ).toxml()
-    """
-
     robot_urdf_file = ParameterValue(
         Command(
             [
@@ -76,20 +71,6 @@ def generate_launch_description():
         launch_arguments={"gz_args": world_path}.items(),
     )
 
-    rover_pose_bridge = Node(
-        package="urc_bringup",
-        executable="urc_bringup_RoverPoseBridge",
-        name="rover_pose_bridge",
-        parameters=[
-            {
-                "tf_topic": "/ground_truth_pose",
-                "rover_pos_topic": "/rover_ground_truth",
-                "use_sim_time": True,
-            }
-        ],
-        output="screen",
-    )
-
     bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
@@ -106,37 +87,6 @@ def generate_launch_description():
         output="screen",
     )
 
-    control_node = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
-        parameters=[controller_config_file_dir],
-        output="screen",
-        remappings=[("/controller_manager/robot_description", "/robot_description")],
-    )
-
-    load_joint_state_broadcaster = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"],
-    )
-
-    # load_position_controller = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "position_controller"],
-    # )
-    #
-    # load_velocity_controller = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "velocity_controller"],
-    # )
-    load_swerve_controller = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["-p", controller_config_file_dir, "swerve_controller"],
-    )
-
     covariances_on_imu = Node(
         package="urc_localization",
         executable="urc_localization_CovariancesOnImu",
@@ -150,6 +100,20 @@ def generate_launch_description():
         output="screen",
     )
 
+    rover_pose_bridge = Node(
+        package="urc_bringup",
+        executable="urc_bringup_RoverPoseBridge",
+        name="rover_pose_bridge",
+        parameters=[
+            {
+                "tf_topic": "/ground_truth_pose",
+                "rover_pos_topic": "/rover_ground_truth",
+                "use_sim_time": True,
+            }
+        ],
+        output="screen",
+    )
+
     spawn = Node(
         package="ros_gz_sim",
         executable="create",
@@ -174,21 +138,51 @@ def generate_launch_description():
         ],
     )
 
+    # --- Controller Spawners ---
+    load_joint_state_broadcaster = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            "joint_state_broadcaster",
+            "--param-file",
+            controller_config_file_dir,
+        ],
+    )
+
+    load_swerve_controller = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            "swerve_controller",
+            "--param-file",
+            controller_config_file_dir,
+        ],
+    )
+
     return LaunchDescription(
         [
             sim_world_arg,
             walli_xacro,
-            gz_sim,
-            spawn,
-            covariances_on_imu,
             bridge_yaml,
+            gz_sim,
             bridge,
-            control_node,
             robot_state_publisher_node,
-            load_joint_state_broadcaster,
-            # load_position_controller,
-            # load_velocity_controller,
-            load_swerve_controller,
+            covariances_on_imu,
             rover_pose_bridge,
+            spawn,
+            # Start joint_state_broadcaster AFTER robot spawn
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=spawn,
+                    on_exit=[load_joint_state_broadcaster],
+                )
+            ),
+            # Start swerve controller AFTER joint_state_broadcaster
+            RegisterEventHandler(
+                event_handler=OnProcessExit(
+                    target_action=load_joint_state_broadcaster,
+                    on_exit=[load_swerve_controller],
+                )
+            ),
         ]
     )
diff --git a/urc_hw_description/urdf/simplified_swerve/simplified_swerve_ros2_control.xacro b/urc_hw_description/urdf/simplified_swerve/simplified_swerve_ros2_control.xacro
index 820ab451..4407ed8a 100644
--- a/urc_hw_description/urdf/simplified_swerve/simplified_swerve_ros2_control.xacro
+++ b/urc_hw_description/urdf/simplified_swerve/simplified_swerve_ros2_control.xacro
@@ -14,7 +14,7 @@
       <!-- Hardware Plugin -->
       <hardware>
         <xacro:if value="${use_sim}">
-          <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
         </xacro:if>
         <xacro:unless value="${use_sim}">
           <plugin>urc_hw/RoverDrivetrain</plugin>
@@ -114,7 +114,7 @@
       <!-- </gazebo> -->
 
       <gazebo>
-        <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+        <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
           <parameters>$(find urc_bringup)/config/test_controllers.yaml</parameters>
         </plugin>
       </gazebo> 
diff --git a/urc_hw_description/urdf/simplified_swerve/simplified_swerve_sensors.xacro b/urc_hw_description/urdf/simplified_swerve/simplified_swerve_sensors.xacro
index 5922e13e..45d682b7 100644
--- a/urc_hw_description/urdf/simplified_swerve/simplified_swerve_sensors.xacro
+++ b/urc_hw_description/urdf/simplified_swerve/simplified_swerve_sensors.xacro
@@ -87,18 +87,14 @@
 
       <collision name="imu_collision">
         <geometry>
-          <box>
-            <size>0.001 0.001 0.001</size>  <!-- tiny collision -->
-          </box>
+          <box size="0.001 0.001 0.001"/>  <!-- tiny collision -->
         </geometry>
       </collision>
 
       <visual name="imu_visual">
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <box>
-            <size>0.001 0.001 0.001</size>
-          </box>
+          <box size="0.001 0.001 0.001"/>
         </geometry>
       </visual>
     </link>