diff --git a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world b/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
index 05d0a61aeea55638d2f05e555a22aac3ba7c8185..68f01e99dbc08b16dfd411804549b16326558218 100644
--- a/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
+++ b/nav2_system_tests/worlds/turtlebot3_ros2_demo.world
@@ -153,6 +153,8 @@
           <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
             <ros>
               <!-- <namespace>/tb3</namespace> -->
+              <argument>--ros-args</argument>
+              <argument>-r</argument>
               <argument>~/out:=imu</argument>
             </ros>
           </plugin>
@@ -221,6 +223,8 @@
             <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
               <ros>
                 <!-- <namespace>/tb3</namespace> -->
+                <argument>--ros-args</argument>
+                <argument>-r </argument>
                 <argument>~/out:=scan</argument>
               </ros>
               <output_type>sensor_msgs/LaserScan</output_type>
@@ -456,7 +460,7 @@
         <plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
           <ros>
             <!-- <namespace>/tb3</namespace> -->
-            <argument>~/out:=joint_states</argument>
+            <argument>-r ~/out:=joint_states</argument>
           </ros>
           <update_rate>250</update_rate>
           <joint_name>wheel_left_joint</joint_name>