diff --git a/rbs_simulation/launch/simulation.launch.py b/rbs_simulation/launch/simulation.launch.py
index 8671a07..37423fb 100644
--- a/rbs_simulation/launch/simulation.launch.py
+++ b/rbs_simulation/launch/simulation.launch.py
@@ -4,7 +4,7 @@ from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch_ros.substitutions import FindPackageShare
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
-from launch.conditions import IfCondition
+from launch.conditions import IfCondition, UnlessCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
@@ -25,22 +25,34 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
     )
+    declared_arguments.append(
+        DeclareLaunchArgument("gazebo_gui", default_value="false", description="Launch env_manager?")
+    )
     
     sim_gazebo = LaunchConfiguration("sim_gazebo")
     rbs_robot_type = LaunchConfiguration("rbs_robot_type")
     env_manager_cond = LaunchConfiguration("env_manager")
-
+    gazebo_gui = LaunchConfiguration("gazebo_gui")
     # FIXME: To args when we'll have different files
     world_config_file = PathJoinSubstitution(
         [FindPackageShare("rbs_simulation"), "worlds", "mir.sdf"]
     )
     # Gazebo nodes
+
+    gazebo_server = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [os.path.join(get_package_share_directory('ros_gz_sim'),
+                            'launch', 'gz_sim.launch.py')]),
+            launch_arguments=[('ign_args', [' -r ',world_config_file, " -s"])],
+            condition=UnlessCondition(gazebo_gui))
+    
     gazebo = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                [os.path.join(get_package_share_directory('ros_ign_gazebo'),
-                              'launch', 'ign_gazebo.launch.py')]),
-                launch_arguments=[('ign_args', [' -r ',world_config_file, " --physics-engine ignition-physics-dartsim-plugin --render-engine ogre2"])],
-                condition=IfCondition(sim_gazebo))
+                [os.path.join(get_package_share_directory('ros_gz_sim'),
+                            'launch', 'gz_sim.launch.py')]),
+            launch_arguments=[('ign_args', [' -r ',world_config_file])],
+            condition=IfCondition(gazebo_gui))
+    
     # Spawn robot
     gazebo_spawn_robot = Node(package='ros_ign_gazebo', executable='create',
                  arguments=[
@@ -59,6 +71,7 @@ def generate_launch_description():
 
     nodes_to_start = [
         gazebo,
+        gazebo_server,
         gazebo_spawn_robot,
         env_manager
     ]