diff --git a/doc/index.rst b/doc/index.rst
index d47d016e..00a7ebb3 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -146,7 +146,7 @@ robot hardware interfaces between *ros2_control* and Gazebo.
       <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+        <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       </plugin>
   </gazebo>
 
@@ -200,32 +200,18 @@ and use the tag ``<controller_manager_prefix_node_name>`` to set the controller
 
   <gazebo>
     <plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system">
-      <parameters>$(find gz_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find gz_ros2_control_demos)/config/cart_controller.yaml</parameters>
       <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
     </plugin>
   <gazebo>
 
-This controller publishes the state of all resources registered to a
-``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
-The following is a basic configuration of the controller.
+The following is a basic configuration of the controllers:
 
-.. code-block:: yaml
+- ``joint_state_broadcaster``: This controller publishes the state of all resources registered to a ``hardware_interface::StateInterface`` to a topic of type ``sensor_msgs/msg/JointState``.
+- ``joint_trajectory_controller``: This controller creates an action called ``/joint_trajectory_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
 
-  joint_state_controller:
-    ros__parameters:
-      type: joint_state_controller/JointStateController
-
-This controller creates an action called ``/cart_pole_controller/follow_joint_trajectory`` of type ``control_msgs::action::FollowJointTrajectory``.
-
-.. code-block:: yaml
-
-  cart_pole_controller:
-    ros__parameters:
-      type: joint_trajectory_controller/JointTrajectoryController
-      joints:
-        - slider_to_cart
-      write_op_modes:
-        - slider_to_cart
+.. literalinclude:: ../gz_ros2_control_demos/config/cart_controller_position.yaml
+   :language: yaml
 
 
 gz_ros2_control_demos
diff --git a/gz_ros2_control_tests/tests/position_test.py b/gz_ros2_control_tests/tests/position_test.py
index f20f7f70..a39db16a 100755
--- a/gz_ros2_control_tests/tests/position_test.py
+++ b/gz_ros2_control_tests/tests/position_test.py
@@ -77,7 +77,7 @@ def generate_test_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
index b1bd6e3b..0c22bf4d 100644
--- a/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
+++ b/gz_ros2_control_tests/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -95,7 +91,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find gz_ros2_control_tests)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find gz_ros2_control_tests)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/config/cart_controller_effort.yaml b/ign_ros2_control_demos/config/cart_controller_effort.yaml
new file mode 100644
index 00000000..920e4651
--- /dev/null
+++ b/ign_ros2_control_demos/config/cart_controller_effort.yaml
@@ -0,0 +1,14 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 1000  # Hz
+
+    effort_controller:
+      type: effort_controllers/JointGroupEffortController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+effort_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
diff --git a/ign_ros2_control_demos/config/cart_controller_position.yaml b/ign_ros2_control_demos/config/cart_controller_position.yaml
new file mode 100644
index 00000000..f51d2fa5
--- /dev/null
+++ b/ign_ros2_control_demos/config/cart_controller_position.yaml
@@ -0,0 +1,19 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
diff --git a/ign_ros2_control_demos/config/cart_controller_velocity.yaml b/ign_ros2_control_demos/config/cart_controller_velocity.yaml
new file mode 100644
index 00000000..7215d760
--- /dev/null
+++ b/ign_ros2_control_demos/config/cart_controller_velocity.yaml
@@ -0,0 +1,22 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 1000  # Hz
+
+    velocity_controller:
+      type: velocity_controllers/JointGroupVelocityController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+velocity_controller:
+  ros__parameters:
+    joints:
+      - slider_to_cart
+
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: cart_imu_sensor
+    frame_id: imu
diff --git a/ign_ros2_control_demos/launch/cart_example_effort.launch.py b/ign_ros2_control_demos/launch/cart_example_effort.launch.py
index 3953494e..4bd27da5 100644
--- a/ign_ros2_control_demos/launch/cart_example_effort.launch.py
+++ b/ign_ros2_control_demos/launch/cart_example_effort.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/ign_ros2_control_demos/launch/cart_example_position.launch.py b/ign_ros2_control_demos/launch/cart_example_position.launch.py
index c1a8beb4..ffbeae6a 100644
--- a/ign_ros2_control_demos/launch/cart_example_position.launch.py
+++ b/ign_ros2_control_demos/launch/cart_example_position.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/ign_ros2_control_demos/launch/cart_example_velocity.launch.py b/ign_ros2_control_demos/launch/cart_example_velocity.launch.py
index 1a72809c..d69b4130 100644
--- a/ign_ros2_control_demos/launch/cart_example_velocity.launch.py
+++ b/ign_ros2_control_demos/launch/cart_example_velocity.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'cart',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/ign_ros2_control_demos/launch/diff_drive_example.launch.py b/ign_ros2_control_demos/launch/diff_drive_example.launch.py
index 70ba1f2d..d0147161 100644
--- a/ign_ros2_control_demos/launch/diff_drive_example.launch.py
+++ b/ign_ros2_control_demos/launch/diff_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'diff_drive',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/ign_ros2_control_demos/launch/tricycle_drive_example.launch.py b/ign_ros2_control_demos/launch/tricycle_drive_example.launch.py
index ffe431c3..42c47c88 100644
--- a/ign_ros2_control_demos/launch/tricycle_drive_example.launch.py
+++ b/ign_ros2_control_demos/launch/tricycle_drive_example.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
         executable='create',
         output='screen',
         arguments=['-string', doc.toxml(),
-                   '-name', 'cartpole',
+                   '-name', 'tricyle',
                    '-allow_renaming', 'true'],
     )
 
diff --git a/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
index 6fa0af31..5c0b3e96 100644
--- a/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_effort.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -83,7 +79,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_effort.yaml</parameters>
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_effort.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
index eeff47ec..7dc19a5c 100644
--- a/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_position.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="world"/>
   <link name="slideBar">
@@ -83,7 +79,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_position.yaml</parameters>
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_position.yaml</parameters>
     </plugin>
   </gazebo>
 </robot>
diff --git a/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf b/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
index 59a960a1..8b91c252 100644
--- a/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
+++ b/ign_ros2_control_demos/urdf/test_cart_velocity.xacro.urdf
@@ -1,8 +1,4 @@
 <?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from cartpole.xacro.urdf            | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
 <robot name="cartopole">
   <link name="slideBar">
     <visual>
@@ -161,7 +157,7 @@
   <gazebo>
     <!-- Joint state publisher -->
     <plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller_velocity.yaml</parameters>
+      <parameters>$(find ign_ros2_control_demos)/config/cart_controller_velocity.yaml</parameters>
     </plugin>
     <plugin
       filename="ignition-gazebo-imu-system"