diff --git a/CreateURDF.md b/CreateURDF.md
index 0182fdc..fb98d60 100644
--- a/CreateURDF.md
+++ b/CreateURDF.md
@@ -139,8 +139,6 @@ As in the previous robot file, first it is included the robot body macro file an
     filename="$(find robotnik_description)/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/mecanum_wheel/rbkairos_mecanum_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro" />
 ```
 
 Then, it is defined the properties of the position of the wheels.
@@ -154,7 +152,9 @@ Then, it is defined the properties of the position of the wheels.
 
 ```
 
-And finally, the robot macro definition which includes calling the macro body (chassis + logos) and the wheels and control macros.
+And finally, the robot macro definition includes the body (chassis + logos) and
+the wheels. Simulator control is composed externally by the corresponding
+simulation package; it is not part of `robotnik_description`.
 
 ```xml
 
@@ -200,11 +200,6 @@ And finally, the robot macro definition which includes calling the macro body (c
       gazebo_ignition="${gazebo_ignition}"
       xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" />
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbkairos_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 ```
 
diff --git a/robots/rbtheron/rbtheron.urdf.xacro b/robots/rbtheron/rbtheron.urdf.xacro
index 076f267..7e32d64 100644
--- a/robots/rbtheron/rbtheron.urdf.xacro
+++ b/robots/rbtheron/rbtheron.urdf.xacro
@@ -45,7 +45,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="0.2675 -0.215 0.1613"
+      xyz="0.2675 -0.215 0.1683"
       rpy="0 ${-pi} ${3/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_sick_picoscan120
@@ -57,7 +57,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="-0.2675 0.215 0.1613"
+      xyz="-0.2675 0.215 0.1683"
       rpy="0 ${-pi} ${-1/4*pi}" />
   </xacro:sensor_sick_picoscan120>
 
diff --git a/robots/rbtheron/rbtheron_plus.urdf.xacro b/robots/rbtheron/rbtheron_plus.urdf.xacro
index 23f1f37..3734e67 100644
--- a/robots/rbtheron/rbtheron_plus.urdf.xacro
+++ b/robots/rbtheron/rbtheron_plus.urdf.xacro
@@ -70,7 +70,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="0.2675 -0.215 0.1613"
+      xyz="0.2675 -0.215 0.1683"
       rpy="0 ${-pi} ${3/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_sick_picoscan120
@@ -82,7 +82,7 @@
     max_angle="2.3"
     min_angle="-2.3">
     <origin
-      xyz="-0.2675 0.215 0.1613"
+      xyz="-0.2675 0.215 0.1683"
       rpy="0 ${-pi} ${-1/4*pi}" />
   </xacro:sensor_sick_picoscan120>
   <xacro:sensor_robosense_bpearl
@@ -115,7 +115,7 @@
     gazebo_ignition="$(arg gazebo_ignition)">
     <!-- rear camera offset_z rb_theron chassis type v3: 0.1598 v4 (default): 0.1158 -->
     <origin
-      xyz="-0.3045 0 0.1158"
+      xyz="-0.3045 0 0.1598"
       rpy="0 0 ${pi}" />
   </xacro:sensor_intel_realsense_d435>
 </robot>
diff --git a/simulators/gazebo_ignition/README.md b/simulators/gazebo_ignition/README.md
deleted file mode 100644
index a20297c..0000000
--- a/simulators/gazebo_ignition/README.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# Gazebo Ignition
- 
-this folder will contain gazebo ignition stuff
\ No newline at end of file
diff --git a/simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro b/simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro
index 300193b..708ec41 100644
--- a/simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rb1_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rb1/rb1_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rb1/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rb1/rb1_controller_params.yaml b/simulators/gazebo_ignition/rb1/rb1_controller_params.yaml
deleted file mode 100644
index 12dec25..0000000
--- a/simulators/gazebo_ignition/rb1/rb1_controller_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBTheronController
diff --git a/simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro b/simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro
index e834a55..78abf47 100644
--- a/simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbcar_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbcar/rbcar_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbcar/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbcar/rbcar_controller_params.yaml b/simulators/gazebo_ignition/rbcar/rbcar_controller_params.yaml
deleted file mode 100644
index fe29684..0000000
--- a/simulators/gazebo_ignition/rbcar/rbcar_controller_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: ackermann_steering_controller/AckermannSteeringController
\ No newline at end of file
diff --git a/simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro b/simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro
index ba643e3..ea36449 100644
--- a/simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbfiqus_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbfiqus/rbfiqus_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbfiqus/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbfiqus/rbfiqus_controller_params.yaml b/simulators/gazebo_ignition/rbfiqus/rbfiqus_controller_params.yaml
deleted file mode 100644
index af6aea4..0000000
--- a/simulators/gazebo_ignition/rbfiqus/rbfiqus_controller_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBVoguiController
diff --git a/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro b/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro
index 6040094..28a8711 100644
--- a/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbkairos_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbkairos/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml b/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml
deleted file mode 100644
index 53f5ff1..0000000
--- a/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      use_sim_time: true
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBKairosController
-      joint_trajectory_controller:
-        type: joint_trajectory_controller/JointTrajectoryController
diff --git a/simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro b/simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro
index f980f3c..59d62f5 100644
--- a/simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbrobout_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbrobout/rbrobout_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbrobout/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbrobout/rbrobout_controller_params.yaml b/simulators/gazebo_ignition/rbrobout/rbrobout_controller_params.yaml
deleted file mode 100644
index 436526e..0000000
--- a/simulators/gazebo_ignition/rbrobout/rbrobout_controller_params.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBKairosController
-      joint_trajectory_controller:
-        type: joint_trajectory_controller/JointTrajectoryController
diff --git a/simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro b/simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro
index 03eac67..7a31c01 100644
--- a/simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbsummit_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbsummit/rbsummit_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbsummit/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbsummit/rbsummit_controller_params.yaml b/simulators/gazebo_ignition/rbsummit/rbsummit_controller_params.yaml
deleted file mode 100644
index da9e706..0000000
--- a/simulators/gazebo_ignition/rbsummit/rbsummit_controller_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBSummitController
diff --git a/simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro b/simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro
index 3c99e61..c0dd6a2 100644
--- a/simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbsummit_steel_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbsummit_steel/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro b/simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro
index 75533d7..b82684e 100644
--- a/simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbtheron_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbtheron/rbtheron_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbtheron/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbtheron/rbtheron_controller_params.yaml b/simulators/gazebo_ignition/rbtheron/rbtheron_controller_params.yaml
deleted file mode 100644
index d2f2383..0000000
--- a/simulators/gazebo_ignition/rbtheron/rbtheron_controller_params.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBTheronController
-      joint_trajectory_controller:
-        type: joint_trajectory_controller/JointTrajectoryController
diff --git a/simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro b/simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro
index 500073b..d0abb56 100644
--- a/simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbvogui_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbvogui/rbvogui_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbvogui/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbvogui/rbvogui_controller_params.yaml b/simulators/gazebo_ignition/rbvogui/rbvogui_controller_params.yaml
deleted file mode 100644
index 6e0c136..0000000
--- a/simulators/gazebo_ignition/rbvogui/rbvogui_controller_params.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBVoguiController
-      joint_trajectory_controller:
-        type: joint_trajectory_controller/JointTrajectoryController
diff --git a/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro b/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro
index 647b316..d6ff01e 100644
--- a/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbvogui_xl_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbvogui_xl/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_controller_params.yaml b/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_controller_params.yaml
deleted file mode 100644
index af6aea4..0000000
--- a/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_controller_params.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBVoguiController
diff --git a/simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro b/simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro
index 926c354..f1bb303 100644
--- a/simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro
+++ b/simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:macro
-    name="rbwatcher_gz_ignition_control"
-    params="namespace prefix">
+    name="robotnik_gazebo_control"
+    params="namespace prefix controller_config">
     <gazebo>
       <plugin name="gz::sim::systems::PosePublisher" filename="libgz-sim-pose-publisher-system.so">
         <publish_model_pose>true</publish_model_pose>
@@ -13,7 +13,7 @@
         filename="gz_ros2_control-system">
         <robot_param>robot_description</robot_param>
         <robot_param_node>robot_state_publisher</robot_param_node>
-        <parameters>$(find robotnik_description)/simulators/gazebo_ignition/rbwatcher/rbwatcher_controller_params.yaml</parameters>
+        <parameters>$(find robotnik_simulation_profiles)/rbwatcher/control/${controller_config}</parameters>
         <ros>
           <namespace>/${namespace}</namespace>
         </ros>
diff --git a/simulators/gazebo_ignition/rbwatcher/rbwatcher_controller_params.yaml b/simulators/gazebo_ignition/rbwatcher/rbwatcher_controller_params.yaml
deleted file mode 100644
index 51d4190..0000000
--- a/simulators/gazebo_ignition/rbwatcher/rbwatcher_controller_params.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-/**:
-  controller_manager:
-    ros__parameters:
-      update_rate: 50
-      joint_state_broadcaster:
-        type: joint_state_broadcaster/JointStateBroadcaster
-      robotnik_base_control:
-        type: robotnik_controllers/RBSummitController      
-      joint_trajectory_controller:
-        type: joint_trajectory_controller/JointTrajectoryController
\ No newline at end of file
diff --git a/simulators/gazebo_ignition/robot.urdf.xacro b/simulators/gazebo_ignition/robot.urdf.xacro
new file mode 100644
index 0000000..7357fd8
--- /dev/null
+++ b/simulators/gazebo_ignition/robot.urdf.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0" ?>
+<robot
+  name="robotnik_gazebo_robot"
+  xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:arg name="source_robot_xacro_path" default="" />
+  <xacro:arg name="robot" default="" />
+  <xacro:arg name="namespace" default="robot" />
+  <xacro:arg name="prefix" default="robot_" />
+  <xacro:arg name="controller_config" default="" />
+  <xacro:arg name="gazebo_ignition" default="true" />
+  <xacro:arg name="ur_type" default="ur10e" />
+  <xacro:arg name="low_performance" default="false" />
+
+  <!-- Compose the simulator-independent robot with its Gazebo control adapter. -->
+  <xacro:include filename="$(arg source_robot_xacro_path)" />
+  <xacro:include
+    filename="$(find robotnik_description)/simulators/gazebo_ignition/$(arg robot)/$(arg robot)_control.urdf.xacro" />
+
+  <xacro:robotnik_gazebo_control
+    namespace="$(arg namespace)"
+    prefix="$(arg prefix)"
+    controller_config="$(arg controller_config)" />
+</robot>
diff --git a/urdf/bases/rb1/rb1_base.xacro b/urdf/bases/rb1/rb1_base.xacro
index 2c56ef9..96b18aa 100644
--- a/urdf/bases/rb1/rb1_base.xacro
+++ b/urdf/bases/rb1/rb1_base.xacro
@@ -8,8 +8,6 @@
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/rubber_wheel/rubber_wheel_150.urdf.xacro" />
 
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rb1/rb1_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -54,10 +52,5 @@
         rpy="0 0 0" />
     </xacro:rubber_wheel>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rb1_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbcar/rbcar_base.urdf.xacro b/urdf/bases/rbcar/rbcar_base.urdf.xacro
index fb9d5cc..6948f00 100644
--- a/urdf/bases/rbcar/rbcar_base.urdf.xacro
+++ b/urdf/bases/rbcar/rbcar_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbcar/rbcar_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/rbcar/suspension_wheel_v4.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbcar/rbcar_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -69,10 +67,5 @@
       parent="${prefix}base_link" />
 
     <!-- CONTROL -->
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbcar_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbfiqus/rbfiqus_base.urdf.xacro b/urdf/bases/rbfiqus/rbfiqus_base.urdf.xacro
index 81f3f0e..d15ed60 100644
--- a/urdf/bases/rbfiqus/rbfiqus_base.urdf.xacro
+++ b/urdf/bases/rbfiqus/rbfiqus_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbfiqus/rbfiqus_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/steering_wheel/steering_wheel_rbfiqus.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbfiqus/rbfiqus_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -71,10 +69,5 @@
         rpy="0 0 0" />
     </xacro:steering_wheel_rbfiqus>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbfiqus_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbkairos/rbkairos_base.urdf.xacro b/urdf/bases/rbkairos/rbkairos_base.urdf.xacro
index 7367cfb..6c0ce72 100644
--- a/urdf/bases/rbkairos/rbkairos_base.urdf.xacro
+++ b/urdf/bases/rbkairos/rbkairos_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/mecanum_wheel/rbkairos_mecanum_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbkairos/rbkairos_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -62,10 +60,5 @@
       gazebo_ignition="${gazebo_ignition}"
       xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" />
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbkairos_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbrobout/rbrobout_base.urdf.xacro b/urdf/bases/rbrobout/rbrobout_base.urdf.xacro
index 34640a2..2395320 100644
--- a/urdf/bases/rbrobout/rbrobout_base.urdf.xacro
+++ b/urdf/bases/rbrobout/rbrobout_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbrobout/rbrobout_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/mecanum_wheel/rbrobout_mecanum_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbrobout/rbrobout_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -62,10 +60,5 @@
       gazebo_ignition="${gazebo_ignition}"
       xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" />
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbrobout_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbsummit/rbsummit_base.xacro b/urdf/bases/rbsummit/rbsummit_base.xacro
index 8870b1a..c144eca 100644
--- a/urdf/bases/rbsummit/rbsummit_base.xacro
+++ b/urdf/bases/rbsummit/rbsummit_base.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbsummit/rbsummit_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/rubber_wheel/rubber_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbsummit/rbsummit_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -74,10 +72,5 @@
         rpy="0 0 0" />
     </xacro:rubber_wheel>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbsummit_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbsummit_steel/rbsummit_steel_base.xacro b/urdf/bases/rbsummit_steel/rbsummit_steel_base.xacro
index 3c3dca9..24b471b 100644
--- a/urdf/bases/rbsummit_steel/rbsummit_steel_base.xacro
+++ b/urdf/bases/rbsummit_steel/rbsummit_steel_base.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbsummit_steel/rbsummit_steel_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/mecanum_wheel/rbkairos_mecanum_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbsummit_steel/rbsummit_steel_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -62,10 +60,5 @@
       gazebo_ignition="${gazebo_ignition}"
       xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" />
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbsummit_steel_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbtheron/rbtheron_base.xacro b/urdf/bases/rbtheron/rbtheron_base.xacro
index d2c5f17..5329637 100644
--- a/urdf/bases/rbtheron/rbtheron_base.xacro
+++ b/urdf/bases/rbtheron/rbtheron_base.xacro
@@ -8,8 +8,6 @@
     filename="$(find robotnik_description)/urdf/wheels/rubber_wheel/rubber_wheel_150.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/caster_wheel/rbtheron_caster.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbtheron/rbtheron_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -102,10 +100,5 @@
         rpy="0 0 0" />
     </xacro:caster>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbtheron_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbvogui/rbvogui_base.urdf.xacro b/urdf/bases/rbvogui/rbvogui_base.urdf.xacro
index 870c0c0..f421724 100644
--- a/urdf/bases/rbvogui/rbvogui_base.urdf.xacro
+++ b/urdf/bases/rbvogui/rbvogui_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbvogui/rbvogui_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/steering_wheel/steering_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbvogui/rbvogui_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -71,10 +69,5 @@
         rpy="0 0 0" />
     </xacro:steering_wheel>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbvogui_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbvogui_xl/rbvogui_xl_base.urdf.xacro b/urdf/bases/rbvogui_xl/rbvogui_xl_base.urdf.xacro
index 50cc494..17cadb4 100644
--- a/urdf/bases/rbvogui_xl/rbvogui_xl_base.urdf.xacro
+++ b/urdf/bases/rbvogui_xl/rbvogui_xl_base.urdf.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbvogui_xl/rbvogui_xl_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/steering_wheel/steering_wheel_350.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbvogui_xl/rbvogui_xl_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -71,10 +69,5 @@
         rpy="0 0 0" />
     </xacro:steering_xl_wheel_350>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbvogui_xl_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bases/rbwatcher/rbwatcher_base.xacro b/urdf/bases/rbwatcher/rbwatcher_base.xacro
index 7d5f896..e30ad86 100644
--- a/urdf/bases/rbwatcher/rbwatcher_base.xacro
+++ b/urdf/bases/rbwatcher/rbwatcher_base.xacro
@@ -6,8 +6,6 @@
     filename="$(find robotnik_description)/urdf/bodies/rbwatcher/rbwatcher_body.urdf.xacro" />
   <xacro:include
     filename="$(find robotnik_description)/urdf/wheels/rubber_wheel/rubber_wheel.urdf.xacro" />
-  <xacro:include
-    filename="$(find robotnik_description)/simulators/gazebo_ignition/rbwatcher/rbwatcher_control.urdf.xacro" />
 
   <!-- WHEELS PROPERTIES -->
   <xacro:property
@@ -74,10 +72,5 @@
         rpy="0 0 0" />
     </xacro:rubber_wheel>
 
-    <xacro:if value="$(arg gazebo_ignition)">
-      <xacro:rbwatcher_gz_ignition_control
-        namespace="${namespace}"
-        prefix="${prefix}" />
-    </xacro:if>
   </xacro:macro>
 </robot>
diff --git a/urdf/bodies/rb1/rb1_body.urdf.xacro b/urdf/bodies/rb1/rb1_body.urdf.xacro
index 51ff73a..4861421 100644
--- a/urdf/bodies/rb1/rb1_body.urdf.xacro
+++ b/urdf/bodies/rb1/rb1_body.urdf.xacro
@@ -64,8 +64,8 @@
               filename="package://robotnik_description/meshes/bases/rb1/rb1_base_v3.stl" />
           </geometry>
         </xacro:unless>
-        <material name="darkgrey">
-          <color rgba="0.1 0.1 0.1 1" />
+        <material name="black">
+          <color rgba="0.0 0.0 0.0 1" />
         </material>
       </visual>
       <collision>
@@ -79,10 +79,6 @@
       </collision>
     </link>
 
-    <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
     <joint
       name="${prefix}front_cover_joint"
       type="fixed">
diff --git a/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro b/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro
index 3237620..7848342 100644
--- a/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro
+++ b/urdf/bodies/rbkairos/rbkairos_body.urdf.xacro
@@ -70,10 +70,6 @@
       </collision>
     </link>
 
-    <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
     <!-- TOP COVER -->
     <link name="${prefix}top_cover">
       <visual>
diff --git a/urdf/bodies/rbsummit_steel/rbsummit_steel_body.urdf.xacro b/urdf/bodies/rbsummit_steel/rbsummit_steel_body.urdf.xacro
index 0298180..85edf8f 100644
--- a/urdf/bodies/rbsummit_steel/rbsummit_steel_body.urdf.xacro
+++ b/urdf/bodies/rbsummit_steel/rbsummit_steel_body.urdf.xacro
@@ -70,10 +70,6 @@
       </collision>
     </link>
 
-    <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
     <!-- TOP COVER -->
     <link name="${prefix}top_cover">
       <visual>
diff --git a/urdf/bodies/rbtheron/rbtheron_body.urdf.xacro b/urdf/bodies/rbtheron/rbtheron_body.urdf.xacro
index f2e7b89..d171b4e 100644
--- a/urdf/bodies/rbtheron/rbtheron_body.urdf.xacro
+++ b/urdf/bodies/rbtheron/rbtheron_body.urdf.xacro
@@ -63,8 +63,8 @@
               filename="package://robotnik_description/meshes/bases/rbtheron/theron_base_v4.stl" />
           </geometry>
         </xacro:unless>
-        <material name="grey">
-          <color rgba="0.2 0.2 0.2 1" />
+        <material name="black">
+          <color rgba="0.0 0.0 0.0 1" />
         </material>
       </visual>
       <collision>
@@ -78,10 +78,6 @@
       </collision>
     </link>
 
-    <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
     <!-- LOGO ROBOTNIK IZQUIERDO -->
     <link name="${prefix}base_logo_left">
       <visual>
diff --git a/urdf/structures/ewellix/ewellix_lift_700mm.urdf.xacro b/urdf/structures/ewellix/ewellix_lift_700mm.urdf.xacro
index 6a07279..fc3b759 100644
--- a/urdf/structures/ewellix/ewellix_lift_700mm.urdf.xacro
+++ b/urdf/structures/ewellix/ewellix_lift_700mm.urdf.xacro
@@ -128,12 +128,10 @@
     </joint>
 
     <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Grey</material>
       <gravity>true</gravity>
     </gazebo>
 
     <gazebo reference="${prefix}top_link">
-      <material>Gazebo/Grey</material>
       <gravity>true</gravity>
     </gazebo>
 
diff --git a/urdf/structures/ewellix/ewellix_lift_900mm.urdf.xacro b/urdf/structures/ewellix/ewellix_lift_900mm.urdf.xacro
index a1ddec5..0e5c852 100644
--- a/urdf/structures/ewellix/ewellix_lift_900mm.urdf.xacro
+++ b/urdf/structures/ewellix/ewellix_lift_900mm.urdf.xacro
@@ -128,12 +128,10 @@
     </joint>
 
     <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Grey</material>
       <gravity>true</gravity>
     </gazebo>
 
     <gazebo reference="${prefix}top_link">
-      <material>Gazebo/Grey</material>
       <gravity>true</gravity>
     </gazebo>