diff --git a/example_12/CMakeLists.txt b/example_12/CMakeLists.txt
index b5e6a53c..e0554a57 100644
--- a/example_12/CMakeLists.txt
+++ b/example_12/CMakeLists.txt
@@ -76,7 +76,7 @@ install(
   DESTINATION include/ros2_control_demo_example_12
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/gazebo
+  DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_12
 )
 install(
diff --git a/example_12/description/gazebo/rrbot.gazebo.xacro b/example_12/description/gazebo/rrbot.gazebo.xacro
deleted file mode 100644
index d37ca424..00000000
--- a/example_12/description/gazebo/rrbot.gazebo.xacro
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copied and modified from ROS1 example -
-https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/rrbot.gazebo
--->
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="rrbot_gazebo" params="prefix">
-
-    <!-- ros_control plugin -->
-    <gazebo>
-      <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-        <parameters>$(find ros2_control_demo_example_12)/config/rrbot_chained_ontrollers.yaml</parameters>
-      </plugin>
-    </gazebo>
-
-    <!-- Link1 -->
-    <gazebo reference="${prefix}base_link">
-      <material>Gazebo/Orange</material>
-    </gazebo>
-
-    <!-- Link2 -->
-    <gazebo reference="${prefix}link1">
-      <mu1>0.2</mu1>
-      <mu2>0.2</mu2>
-      <material>Gazebo/Yellow</material>
-    </gazebo>
-
-    <!-- Link3 -->
-    <gazebo reference="${prefix}link2">
-      <mu1>0.2</mu1>
-      <mu2>0.2</mu2>
-      <material>Gazebo/Orange</material>
-    </gazebo>
-
-  </xacro:macro>
-
-</robot>
diff --git a/example_12/description/ros2_control/rrbot.ros2_control.xacro b/example_12/description/ros2_control/rrbot.ros2_control.xacro
index a568ec31..4e253778 100644
--- a/example_12/description/ros2_control/rrbot.ros2_control.xacro
+++ b/example_12/description/ros2_control/rrbot.ros2_control.xacro
@@ -1,19 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="rrbot_ros2_control" params="name prefix use_gazebo_classic:=^|false">
+  <xacro:macro name="rrbot_ros2_control" params="name prefix">
 
     <ros2_control name="${name}" type="system">
       <hardware>
-        <xacro:if value="${use_gazebo_classic}">
-          <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-        </xacro:if>
-        <xacro:unless value="${use_gazebo_classic}">
           <plugin>ros2_control_demo_example_12/RRBotSystemPositionOnlyHardware</plugin>
           <param name="example_param_hw_start_duration_sec">0</param>
           <param name="example_param_hw_stop_duration_sec">3.0</param>
           <param name="example_param_hw_slowdown">100</param>
-        </xacro:unless>
       </hardware>
 
       <joint name="${prefix}joint1">
diff --git a/example_12/description/urdf/rrbot.urdf.xacro b/example_12/description/urdf/rrbot.urdf.xacro
index f1f526bf..9498e9ee 100644
--- a/example_12/description/urdf/rrbot.urdf.xacro
+++ b/example_12/description/urdf/rrbot.urdf.xacro
@@ -6,7 +6,6 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
   <xacro:arg name="prefix" default="" />
-  <xacro:arg name="use_gazebo_classic" default="false" />
 
   <!-- Import RRBot macro -->
   <xacro:include filename="$(find ros2_control_demo_description)/rrbot/urdf/rrbot_description.urdf.xacro" />
@@ -25,11 +24,5 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
   </xacro:rrbot>
 
   <xacro:rrbot_ros2_control
-    name="RRBot" prefix="$(arg prefix)" use_gazebo_classic="$(arg use_gazebo_classic)"/>
-
-  <xacro:if value="$(arg use_gazebo_classic)">
-    <!-- Import Gazebo Classic definitions + plugin -->
-    <xacro:include filename="$(find ros2_control_demo_example_12)/gazebo/rrbot.gazebo.xacro" />
-    <xacro:rrbot_gazebo prefix="$(arg prefix)"/>
-  </xacro:if>
+    name="RRBot" prefix="$(arg prefix)"/>
 </robot>
diff --git a/example_12/package.xml b/example_12/package.xml
index d14418cd..040f2959 100644
--- a/example_12/package.xml
+++ b/example_12/package.xml
@@ -10,7 +10,7 @@
   <maintainer email="christoph.froehlich@ait.ac.at">Christoph Froehlich</maintainer>
 
   <author email="denis.stogl@stoglrobotics.de">Dr.-Ing. Denis Štogl</author>
-  <author email="christoph.froehlich@ait.ac.at">Christoph Froehlich</author>
+  <author email="sai.kishor@pal-robotics.com">Sai Kishor Kothakota</author>
 
   <license>Apache-2.0</license>
 
@@ -23,8 +23,6 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>forward_command_controller</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
-  <exec_depend>gazebo_ros2_control</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>