diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6070438..246bf23 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,4 +4,4 @@ project(bluerov2_ignition)
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-ament_auto_package(INSTALL_TO_SHARE models worlds)
\ No newline at end of file
+ament_auto_package(INSTALL_TO_SHARE launch models worlds)
diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py
new file mode 100644
index 0000000..a787c77
--- /dev/null
+++ b/launch/simulation.launch.py
@@ -0,0 +1,115 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
+    bluerov2_ignition_path = get_package_share_directory('bluerov2_ignition')
+    world_path = os.path.join(
+        bluerov2_ignition_path, 'worlds', 'underwater_minimal.world')
+    sand_path = os.path.join(
+        bluerov2_ignition_path, 'models', 'sand_heightmap')
+    axes_path = os.path.join(
+        bluerov2_ignition_path, 'models', 'axes')
+    bluerov2_path = os.path.join(
+        bluerov2_ignition_path, 'models', 'bluerov2')
+
+    underwater_world = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
+        launch_arguments={
+           'gz_args': '-r ' + world_path
+        }.items(),
+    )
+
+    x = LaunchConfiguration('x')
+    y = LaunchConfiguration('y')
+    z = LaunchConfiguration('z')
+    x_arg = DeclareLaunchArgument(
+        'x',
+        default_value='0.0',
+        description='Initial x coordinate for bluerov2'
+    )
+
+    y_arg = DeclareLaunchArgument(
+        'y',
+        default_value='0.0',
+        description='Initial y coordinate for bluerov2'
+    )
+
+    z_arg = DeclareLaunchArgument(
+        'z',
+        default_value='-1.5',
+        description='Initial z coordinate for bluerov2'
+    )
+
+    gz_bluerov_pose_bridge = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        arguments=['/model/bluerov2/pose@geometry_msgs/msg/Pose@gz.msgs.Pose'],
+        output='screen',
+        name='gz_bluerov_pose_bridge',
+    )
+
+    bluerov_spawn = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-v4',
+            '-g',
+            '-world', 'underwater',
+            '-file', bluerov2_path,
+            '-name', 'bluerov2',
+            '-x', x,
+            '-y', y,
+            '-z', z,
+            '-Y', '0']
+    )
+
+    sand_spawn = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-v4',
+            '-g',
+            '-world', 'underwater',
+            '-file', sand_path,
+            '-name', 'sand',
+            '-x', '0.0',
+            '-y', '7.0',
+            '-z', '-10.0',
+            '-Y', '0']
+    )
+    axes_spawn = Node(
+        package='ros_gz_sim',
+        executable='create',
+        arguments=[
+            '-v4',
+            '-g',
+            '-world', 'underwater',
+            '-file', axes_path,
+            '-name', 'axes',
+            '-x', '0.0',
+            '-y', '0.0',
+            '-z', '0.2',
+            '-Y', '0']
+    )
+
+    return LaunchDescription([
+        x_arg,
+        y_arg,
+        z_arg,
+        underwater_world,
+        bluerov_spawn,
+        sand_spawn,
+        axes_spawn,
+        gz_bluerov_pose_bridge,
+    ])
diff --git a/models/sand_heightmap/model.sdf b/models/sand_heightmap/model.sdf
index e92c282..22badac 100644
--- a/models/sand_heightmap/model.sdf
+++ b/models/sand_heightmap/model.sdf
@@ -23,7 +23,7 @@
         <geometry>
           <mesh>
             <scale>0.5 0.5 0.25</scale>
-            <uri>model://sand_heightmap/meshes/sandseabed.dae</uri>
+            <uri>meshes/sandseabed.dae</uri>
           </mesh>
         </geometry>
       </collision>
@@ -33,7 +33,7 @@
         <geometry>
           <mesh>
             <scale>0.5 0.5 0.25</scale>
-            <uri>model://sand_heightmap/meshes/sandseabed.dae</uri>
+            <uri>meshes/sandseabed.dae</uri>
           </mesh>
         </geometry>
         <material>
diff --git a/worlds/underwater_minimal.world b/worlds/underwater_minimal.world
new file mode 100644
index 0000000..af9ab68
--- /dev/null
+++ b/worlds/underwater_minimal.world
@@ -0,0 +1,45 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="underwater">
+
+    <!-- Base Gazebo plugins -->
+    <plugin
+        filename="gz-sim-physics-system"
+        name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+        filename="gz-sim-user-commands-system"
+        name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+        filename="gz-sim-scene-broadcaster-system"
+        name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <!-- IMU plugin manages all IMU sensors -->
+    <plugin filename="libgz-sim-imu-system.so"
+            name="gz::sim::systems::Imu">
+    </plugin>
+
+    <!-- Buoyancy plugin manages buoyancy for all models -->
+    <plugin
+        filename="gz-sim-buoyancy-system"
+        name="gz::sim::systems::Buoyancy">
+      <!-- Fluid density is 1 (air) above 0 and 1000 (water) below 0 -->
+      <graded_buoyancy>
+        <default_density>1000</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+      <!-- Enable by model name -->
+      <enable>bluerov2</enable>
+    </plugin>
+
+    <include>
+      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun</uri>
+    </include>
+
+  </world>
+</sdf>