diff --git a/gazebo_ros2_control_demos/config/cart_controller_position_namespaced.yaml b/gazebo_ros2_control_demos/config/cart_controller_position_namespaced.yaml
deleted file mode 100644
index 029144d0..00000000
--- a/gazebo_ros2_control_demos/config/cart_controller_position_namespaced.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-/my_ns/controller_manager:
-  ros__parameters:
-    update_rate: 100  # Hz
-
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-/my_ns/joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - slider_to_cart
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
diff --git a/gazebo_ros2_control_demos/launch/cart_example_position_namespaced.launch.py b/gazebo_ros2_control_demos/launch/cart_example_position_namespaced.launch.py
deleted file mode 100644
index 5d5d5a92..00000000
--- a/gazebo_ros2_control_demos/launch/cart_example_position_namespaced.launch.py
+++ /dev/null
@@ -1,91 +0,0 @@
-# Copyright 2020 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-
-from launch import LaunchDescription
-from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
-from launch.event_handlers import OnProcessExit
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-
-from launch_ros.actions import Node
-
-import xacro
-
-
-def generate_launch_description():
-    gazebo = IncludeLaunchDescription(
-                PythonLaunchDescriptionSource([os.path.join(
-                    get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
-             )
-
-    gazebo_ros2_control_demos_path = os.path.join(
-        get_package_share_directory('gazebo_ros2_control_demos'))
-
-    xacro_file = os.path.join(gazebo_ros2_control_demos_path,
-                              'urdf',
-                              'test_cart_position_namespaced.xacro.urdf')
-
-    doc = xacro.parse(open(xacro_file))
-    xacro.process_doc(doc)
-    params = {'robot_description': doc.toxml()}
-
-    node_robot_state_publisher = Node(
-        package='robot_state_publisher',
-        executable='robot_state_publisher',
-        namespace="my_ns",
-        output='screen',
-        parameters=[params]
-    )
-
-    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
-                        namespace="my_ns",
-                        arguments=['-topic', 'robot_description',
-                                   '-entity', 'cart'],
-                        output='screen')
-
-    load_joint_state_broadcaster = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             '-c', '/my_ns/controller_manager',
-             'joint_state_broadcaster'],
-        output='screen'
-    )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
-             '-c', '/my_ns/controller_manager',
-             'joint_trajectory_controller'],
-        output='screen'
-    )
-
-    return LaunchDescription([
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=spawn_entity,
-                on_exit=[load_joint_state_broadcaster],
-            )
-        ),
-        RegisterEventHandler(
-            event_handler=OnProcessExit(
-                target_action=load_joint_state_broadcaster,
-                on_exit=[load_joint_trajectory_controller],
-            )
-        ),
-        gazebo,
-        node_robot_state_publisher,
-        spawn_entity,
-    ])
diff --git a/gazebo_ros2_control_demos/urdf/test_cart_position_namespaced.xacro.urdf b/gazebo_ros2_control_demos/urdf/test_cart_position_namespaced.xacro.urdf
deleted file mode 100644
index 4aab59ac..00000000
--- a/gazebo_ros2_control_demos/urdf/test_cart_position_namespaced.xacro.urdf
+++ /dev/null
@@ -1,72 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="cart">
-  <link name="world"/>
-  <link name="slideBar">
-    <visual>
-      <geometry>
-        <box size="30 0.05 0.05"/>
-      </geometry>
-      <origin xyz="0 0 0"/>
-      <material name="green">
-        <color rgba="0 0.8 .8 1"/>
-      </material>
-    </visual>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="cart">
-    <visual>
-      <geometry>
-        <box size="0.5 0.5 0.2"/>
-      </geometry>
-      <origin xyz="0 0 0"/>
-      <material name="blue">
-        <color rgba="0 0 .8 1"/>
-      </material>
-    </visual>
-    <inertial>
-      <mass value="1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <joint name="world_to_base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="world"/>
-    <child link="slideBar"/>
-  </joint>
-  <joint name="slider_to_cart" type="prismatic">
-    <axis xyz="1 0 0"/>
-    <origin xyz="0.0 0.0 0.0"/>
-    <parent link="slideBar"/>
-    <child link="cart"/>
-    <limit effort="1000.0" lower="-15" upper="15" velocity="30"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
-  <ros2_control name="GazeboSystem" type="system">
-    <hardware>
-      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
-    </hardware>
-    <joint name="slider_to_cart">
-      <command_interface name="position">
-        <param name="min">-15</param>
-        <param name="max">15</param>
-      </command_interface>
-      <state_interface name="position">
-        <param name="initial_value">1.0</param>
-      </state_interface>
-      <state_interface name="velocity"/>
-      <state_interface name="effort"/>
-    </joint>
-  </ros2_control>
-
-  <gazebo>
-    <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-      <ros>
-        <namespace>my_ns</namespace>
-      </ros>
-      <parameters>$(find gazebo_ros2_control_demos)/config/cart_controller_position_namespaced.yaml</parameters>
-    </plugin>
-  </gazebo>
-</robot>