diff --git a/mars_rover/launch/mars_rover.launch.py b/mars_rover/launch/mars_rover.launch.py
index 5cd1cdbe..4b6ef69a 100644
--- a/mars_rover/launch/mars_rover.launch.py
+++ b/mars_rover/launch/mars_rover.launch.py
@@ -23,10 +23,10 @@ def generate_launch_description():
     mars_rover_demos_path = get_package_share_directory('mars_rover')
     mars_rover_models_path = get_package_share_directory('simulation')
 
-    env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH':
-           ':'.join([environ.get('IGN_GAZEBO_SYSTEM_PLUGIN_PATH', default=''),
+    env = {'GZ_SIM_SYSTEM_PLUGIN_PATH':
+           ':'.join([environ.get('GZ_SIM_SYSTEM_PLUGIN_PATH', default=''),
                      environ.get('LD_LIBRARY_PATH', default='')]),
-           'IGN_GAZEBO_RESOURCE_PATH':
+           'GZ_SIM_RESOURCE_PATH':
            ':'.join([mars_rover_demos_path])}
 
     urdf_model_path = os.path.join(mars_rover_models_path, 'models', 'curiosity_path',
@@ -62,7 +62,7 @@ def generate_launch_description():
     )
 
     start_world = ExecuteProcess(
-        cmd=['ign gazebo', mars_world_model, '-r'],
+        cmd=['gz sim', mars_world_model, '-r'],
         output='screen',
         additional_env=env,
         shell=True
@@ -76,7 +76,7 @@ def generate_launch_description():
             parameters=[robot_description])
 
     spawn = Node(
-        package='ros_ign_gazebo', executable='create',
+        package='ros_gz_sim', executable='create',
         arguments=[
             '-name', 'curiosity_path',
             '-topic', robot_description,
@@ -87,7 +87,7 @@ def generate_launch_description():
 
     ## Control Components
 
-    component_state_msg = '{name: "IgnitionSystem", target_state: {id: 3, label: ""}}'
+    component_state_msg = '{name: "GazeboSimSystem", target_state: {id: 3, label: ""}}'
 
     ## a hack to resolve current bug
     set_hardware_interface_active = ExecuteProcess(
@@ -133,9 +133,6 @@ def generate_launch_description():
         output='screen'
     )
 
-
-
-
     return LaunchDescription([
         start_world,
         robot_state_publisher,
diff --git a/mars_rover/worlds/mars_curiosity.world b/mars_rover/worlds/mars_curiosity.world
index 65a7d26f..c81414cb 100755
--- a/mars_rover/worlds/mars_curiosity.world
+++ b/mars_rover/worlds/mars_curiosity.world
@@ -1,13 +1,14 @@
-<sdf version="1.5">
+<?xml version="1.0" ?>
+<sdf version="1.11">
   <world name="default">
     <gui fullscreen="0">
 
       <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="string" key="state">docked</property>
-        </ignition-gui>
+        </gz-gui>
         <engine>ogre2</engine>
         <scene>scene</scene>
         <background_color>0.9 0.753 0.66</background_color>
@@ -15,9 +16,9 @@
       </plugin>
 
       <plugin filename="ImageDisplay" name="Image Display">
-        <ignition-gui>
+        <gz-gui>
           <property key="state" type="string">floating</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
     </gui>
 
@@ -25,13 +26,13 @@
     <plugins>
         <plugin entity_name="*"
                 entity_type="world"
-                filename="ignition-gazebo-scene-broadcaster-system"
-                name="ignition::gazebo::systems::SceneBroadcaster">
+                filename="gz-sim-scene-broadcaster-system"
+                name="gz::sim::systems::SceneBroadcaster">
         </plugin>
         <plugin entity_name="*"
                 entity_type="world"
-                filename="ignition-gazebo-sensors-system"
-                name="ignition::gazebo::systems::Sensors">
+                filename="gz-sim-sensors-system"
+                name="gz::sim::systems::Sensors">
         <render_engine>ogre2</render_engine>
         </plugin>
     </plugins>