diff --git a/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
index be988d88..624562b3 100644
--- a/clearpath_platform_description/urdf/do100/do100.urdf.xacro
+++ b/clearpath_platform_description/urdf/do100/do100.urdf.xacro
@@ -4,6 +4,7 @@
   <xacro:arg name="namespace" default="" />
   <xacro:arg name="is_sim" default="false" />
   <xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/do100/control.yaml"/>
+  <xacro:arg name="use_platform_controllers" default="true"/>
 
   <!-- Included URDF/Xacro Files -->
   <xacro:include filename="$(find clearpath_platform_description)/urdf/do100/wheels/wheel.urdf.xacro"/>
@@ -185,36 +186,38 @@
     <xacro:include filename="$(find clearpath_platform_description)/urdf/generic/gazebo.urdf.xacro"/>
 
     <!-- ROS2 controls -->
-    <ros2_control name="do100_hardware" type="system">
-      <hardware>
-        <xacro:if value="$(arg is_sim)">
-          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
-        </xacro:if>
-        <xacro:unless value="$(arg is_sim)">
-          <plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
-        </xacro:unless>
-      </hardware>
-      <joint name="front_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="front_right_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="rear_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="rear_right_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-    </ros2_control>
+    <xacro:if value="$(arg use_platform_controllers)">
+      <ros2_control name="do100_hardware" type="system">
+        <hardware>
+          <xacro:if value="$(arg is_sim)">
+            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          </xacro:if>
+          <xacro:unless value="$(arg is_sim)">
+            <plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
+          </xacro:unless>
+        </hardware>
+        <joint name="front_left_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="front_right_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="rear_left_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="rear_right_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+      </ros2_control>
+    </xacro:if>
   </xacro:macro>
 
   <!-- Joint State Publisher -->
diff --git a/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
index 98045bdc..9541e0b0 100644
--- a/clearpath_platform_description/urdf/do150/do150.urdf.xacro
+++ b/clearpath_platform_description/urdf/do150/do150.urdf.xacro
@@ -4,6 +4,7 @@
   <xacro:arg name="namespace" default="" />
   <xacro:arg name="is_sim" default="false" />
   <xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/do150/control.yaml"/>
+  <xacro:arg name="use_platform_controllers" default="true"/>
 
   <!-- Included URDF/Xacro Files -->
   <xacro:include filename="$(find clearpath_platform_description)/urdf/do100/do100.urdf.xacro"/>
diff --git a/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
index 86408a76..8fb11474 100644
--- a/clearpath_platform_description/urdf/r100/r100.urdf.xacro
+++ b/clearpath_platform_description/urdf/r100/r100.urdf.xacro
@@ -4,6 +4,7 @@
   <xacro:arg name="namespace" default="" />
   <xacro:arg name="is_sim" default="false" />
   <xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/r100/control.yaml"/>
+  <xacro:arg name="use_platform_controllers" default="true"/>
 
   <!-- Includes -->
   <xacro:include filename="$(find clearpath_platform_description)/urdf/r100/wheels/wheel.urdf.xacro"/>
@@ -296,36 +297,38 @@
     <xacro:include filename="$(find clearpath_platform_description)/urdf/generic/gazebo.urdf.xacro"/>
 
     <!-- ROS2 controls -->
-    <ros2_control name="r100_hardware" type="system">
-      <hardware>
-        <xacro:if value="$(arg is_sim)">
-          <plugin>gz_ros2_control/GazeboSimSystem</plugin>
-        </xacro:if>
-        <xacro:unless value="$(arg is_sim)">
-          <plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
-        </xacro:unless>
-      </hardware>
-      <joint name="front_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="front_right_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="rear_left_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-      <joint name="rear_right_wheel_joint">
-        <command_interface name="velocity"/>
-        <state_interface name="position"/>
-        <state_interface name="velocity"/>
-      </joint>
-    </ros2_control>
+    <xacro:if value="$(arg use_platform_controllers)">
+      <ros2_control name="r100_hardware" type="system">
+        <hardware>
+          <xacro:if value="$(arg is_sim)">
+            <plugin>ign_ros2_control/IgnitionSystem</plugin>
+          </xacro:if>
+          <xacro:unless value="$(arg is_sim)">
+            <plugin>clearpath_hardware_interfaces/PumaHardware</plugin>
+          </xacro:unless>
+        </hardware>
+        <joint name="front_left_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="front_right_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="rear_left_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+        <joint name="rear_right_wheel_joint">
+          <command_interface name="velocity"/>
+          <state_interface name="position"/>
+          <state_interface name="velocity"/>
+        </joint>
+      </ros2_control>
+    </xacro:if>
 
   </xacro:macro>
 </robot>