diff --git a/rosbot_xl_gazebo/launch/spawn.launch.py b/rosbot_xl_gazebo/launch/spawn.launch.py
index 4259dc8..7ad6cec 100644
--- a/rosbot_xl_gazebo/launch/spawn.launch.py
+++ b/rosbot_xl_gazebo/launch/spawn.launch.py
@@ -35,6 +35,7 @@ def launch_gz_bridge(context: LaunchContext, *args, **kwargs):
     lidar_model = context.perform_substitution(LaunchConfiguration("lidar_model"))
     camera_model = context.perform_substitution(LaunchConfiguration("camera_model"))
     namespace = context.perform_substitution(LaunchConfiguration("namespace"))
+    actions = []
 
     pointcloud_rpy = [
         "1.57",
@@ -55,105 +56,113 @@ def launch_gz_bridge(context: LaunchContext, *args, **kwargs):
     if lidar_model.startswith("slamtec_rplidar"):
         lidar_model = "slamtec_rplidar"
 
-    gz_lidar_remappings_file = PathJoinSubstitution(
-        [
-            get_package_share_directory("rosbot_xl_gazebo"),
-            "config",
-            LaunchConfiguration(
-                "gz_lidar_remappings_file",
-                default=["gz_", lidar_model, "_remappings.yaml"],
-            ),
-        ]
-    )
-
-    namespaced_gz_lidar_remappings_file = ReplaceString(
-        source_file=gz_lidar_remappings_file,
-        replacements={"<robot_namespace>": namespace_ext},
-    )
+    if lidar_model != "None":
+        gz_lidar_remappings_file = PathJoinSubstitution(
+            [
+                get_package_share_directory("rosbot_xl_gazebo"),
+                "config",
+                LaunchConfiguration(
+                    "gz_lidar_remappings_file",
+                    default=["gz_", lidar_model, "_remappings.yaml"],
+                ),
+            ]
+        )
 
-    ign_lidar_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        name="ros_gz_lidar_bridge",
-        parameters=[{"config_file": namespaced_gz_lidar_remappings_file}],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
-        output="screen",
-        namespace=namespace,
-        condition=LaunchConfigurationNotEquals(lidar_model, "None"),
-    )
+        namespaced_gz_lidar_remappings_file = ReplaceString(
+            source_file=gz_lidar_remappings_file,
+            replacements={"<robot_namespace>": namespace_ext},
+        )
 
-    zed_model = None
-    if camera_model.startswith("stereolabs_zed"):
-        zed_model = camera_model.replace("stereolabs_", "")
-        camera_model = "stereolabs_zed"
-        depth_camera_child_tf = "rosbot_xl/base_link/camera_" + camera_model + "_depth"
-        depth_camera_parent_tf = "camera_center_optical_frame"
-        pointcloud_rpy = ["0", "0", "0"]
+        actions.append(
+            Node(
+                package="ros_gz_bridge",
+                executable="parameter_bridge",
+                name="ros_gz_lidar_bridge",
+                parameters=[{"config_file": namespaced_gz_lidar_remappings_file}],
+                remappings=[
+                    ("/tf", "tf"),
+                    ("/tf_static", "tf_static"),
+                ],
+                output="screen",
+                namespace=namespace,
+                condition=LaunchConfigurationNotEquals(lidar_model, "None"),
+            )
+        )
 
-    gz_camera_remappings_file = PathJoinSubstitution(
-        [
-            get_package_share_directory("rosbot_xl_gazebo"),
-            "config",
-            LaunchConfiguration(
-                "gz_camera_remappings_file",
-                default=["gz_", camera_model, "_remappings.yaml"],
-            ),
-        ]
-    )
+    if camera_model != "None":
+        zed_model = None
+        if camera_model.startswith("stereolabs_zed"):
+            zed_model = camera_model.replace("stereolabs_", "")
+            camera_model = "stereolabs_zed"
+            depth_camera_child_tf = "rosbot_xl/base_link/camera_" + camera_model + "_depth"
+            depth_camera_parent_tf = "camera_center_optical_frame"
+            pointcloud_rpy = ["0", "0", "0"]
 
-    namespaced_gz_camera_remappings_file = ReplaceString(
-        source_file=gz_camera_remappings_file,
-        replacements={"<robot_namespace>": namespace_ext},
-    )
+        gz_camera_remappings_file = PathJoinSubstitution(
+            [
+                get_package_share_directory("rosbot_xl_gazebo"),
+                "config",
+                LaunchConfiguration(
+                    "gz_camera_remappings_file",
+                    default=["gz_", camera_model, "_remappings.yaml"],
+                ),
+            ]
+        )
 
-    if zed_model is not None:
         namespaced_gz_camera_remappings_file = ReplaceString(
-            source_file=namespaced_gz_camera_remappings_file,
-            replacements={"<zed>": zed_model},
+            source_file=gz_camera_remappings_file,
+            replacements={"<robot_namespace>": namespace_ext},
         )
 
-    ign_camera_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        name="ros_gz_camera_bridge",
-        parameters=[{"config_file": namespaced_gz_camera_remappings_file}],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
-        output="screen",
-        namespace=namespace,
-        condition=LaunchConfigurationNotEquals(camera_model, "None"),
-    )
+        if zed_model is not None:
+            namespaced_gz_camera_remappings_file = ReplaceString(
+                source_file=namespaced_gz_camera_remappings_file,
+                replacements={"<zed>": zed_model},
+            )
 
-    # The frame of the point cloud from ignition gazebo 6 isn't provided by <frame_id>.
-    # See https://github.com/gazebosim/gz-sensors/issues/239
-    point_cloud_tf = Node(
-        package="tf2_ros",
-        executable="static_transform_publisher",
-        name="point_cloud_tf",
-        output="log",
-        arguments=[
-            "0",
-            "0",
-            "0",
-        ]
-        + pointcloud_rpy
-        + [
-            depth_camera_parent_tf,
-            depth_camera_child_tf,
-        ],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
-        namespace=namespace,
-    )
+        actions.append(
+            Node(
+                package="ros_gz_bridge",
+                executable="parameter_bridge",
+                name="ros_gz_camera_bridge",
+                parameters=[{"config_file": namespaced_gz_camera_remappings_file}],
+                remappings=[
+                    ("/tf", "tf"),
+                    ("/tf_static", "tf_static"),
+                ],
+                output="screen",
+                namespace=namespace,
+                condition=LaunchConfigurationNotEquals(camera_model, "None"),
+            )
+        )
+
+        # The frame of the point cloud from ignition gazebo 6 isn't provided by <frame_id>.
+        # See https://github.com/gazebosim/gz-sensors/issues/239
+        actions.append(
+            Node(
+                package="tf2_ros",
+                executable="static_transform_publisher",
+                name="point_cloud_tf",
+                output="log",
+                arguments=[
+                    "0",
+                    "0",
+                    "0",
+                ]
+                + pointcloud_rpy
+                + [
+                    depth_camera_parent_tf,
+                    depth_camera_child_tf,
+                ],
+                remappings=[
+                    ("/tf", "tf"),
+                    ("/tf_static", "tf_static"),
+                ],
+                namespace=namespace,
+            )
+        )
 
-    return [ign_lidar_bridge, ign_camera_bridge, point_cloud_tf]
+    return actions
 
 
 def generate_launch_description():