diff --git a/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch b/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch
index 234b9ff..cc1d77b 100644
--- a/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch
+++ b/rexrov2_gazebo/launch/start_demo_mb_fl_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">
diff --git a/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch b/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch
index d81861e..b03558c 100644
--- a/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch
+++ b/rexrov2_gazebo/launch/start_demo_nmb_sm_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="empty_underwater_world" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/empty_underwater_world.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">
diff --git a/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch b/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch
index 55f81b6..d238109 100644
--- a/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch
+++ b/rexrov2_gazebo/launch/start_demo_pd_grav_compensation_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">
diff --git a/rexrov2_gazebo/launch/start_demo_pid_controller.launch b/rexrov2_gazebo/launch/start_demo_pid_controller.launch
index d4324d8..0aa37a7 100644
--- a/rexrov2_gazebo/launch/start_demo_pid_controller.launch
+++ b/rexrov2_gazebo/launch/start_demo_pid_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">
diff --git a/rexrov2_gazebo/launch/start_demo_sf_controller.launch b/rexrov2_gazebo/launch/start_demo_sf_controller.launch
index defbc8f..41c8be2 100644
--- a/rexrov2_gazebo/launch/start_demo_sf_controller.launch
+++ b/rexrov2_gazebo/launch/start_demo_sf_controller.launch
@@ -11,11 +11,11 @@
 
     <arg name="teleop_on" default="false" doc="If true, the teleop node will be started"/>
     <arg name="joy_id" default="0" doc="Joystick ID"/>
+    <arg name="use_gazebo_client" default="true" doc="If true, the gazebo visualisation client will be started"/>
+    <arg name="world_name" default="ocean_waves" doc="Name of world for gazebo to load. Can be from any of the launch files listed in uuv_gazebo_worlds without an extension."/>
 
-    <include file="$(find uuv_gazebo_worlds)/launch/ocean_waves.launch"/>
-
-    <include file="$(find uuv_simulation_wrapper)/launch/unpause_simulation.launch">
-        <arg name="timeout" value="5"/>
+    <include file="$(find uuv_gazebo_worlds)/launch/$(arg world_name).launch">
+        <arg name="gui" value="$(arg use_gazebo_client)"/>
     </include>
 
     <include file="$(find rexrov2_description)/launch/upload_rexrov2.launch">