diff --git a/rcdt_utilities/launch/gazebo_robot.launch.py b/rcdt_utilities/launch/gazebo_robot.launch.py
index 6b5c45a..f688eb1 100644
--- a/rcdt_utilities/launch/gazebo_robot.launch.py
+++ b/rcdt_utilities/launch/gazebo_robot.launch.py
@@ -2,36 +2,45 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-from launch.actions import IncludeLaunchDescription
-from launch import LaunchDescription
+from typing import List
+
+from launch import LaunchContext, LaunchDescription
+from launch.actions import IncludeLaunchDescription, OpaqueFunction
 from launch_ros.actions import Node
-from rcdt_utilities.launch_utils import get_file_path
+from rcdt_utilities.launch_utils import LaunchArgument, get_file_path
+
+world_arg = LaunchArgument("world", "empty.sdf")
+
 
-gazebo = IncludeLaunchDescription(
-    get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"),
-    launch_arguments={"gz_args": "empty.sdf -r"}.items(),
-)
+def launch_setup(context: LaunchContext) -> List:
+    gazebo = IncludeLaunchDescription(
+        get_file_path("ros_gz_sim", ["launch"], "gz_sim.launch.py"),
+        launch_arguments={"gz_args": f" -r {world_arg.value(context)}"}.items(),
+    )
 
-spawn_robot = Node(
-    package="ros_gz_sim",
-    executable="create",
-    arguments=["-topic", "/robot_description"],
-    output="screen",
-)
+    spawn_robot = Node(
+        package="ros_gz_sim",
+        executable="create",
+        arguments=["-topic", "/robot_description"],
+        output="screen",
+    )
 
-sync_clock = Node(
-    package="ros_gz_bridge",
-    executable="parameter_bridge",
-    name="sync_clock",
-    arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
-)
+    sync_clock = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name="sync_clock",
+        arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
+    )
+    return [gazebo, spawn_robot, sync_clock]
 
 
 def generate_launch_description() -> LaunchDescription:
     return LaunchDescription(
         [
-            gazebo,
-            spawn_robot,
-            sync_clock,
+            world_arg.declaration,
+            # gazebo,
+            # spawn_robot,
+            # sync_clock,
+            OpaqueFunction(function=launch_setup),
         ]
     )