diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 5ef0323a..8de17f0b 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -1,6 +1,13 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Humble v2.1.1 (2024-09-27)
+--------------------------
+* Adds support for the new Gazebo and removes support for Gazebo Classic (End-of-Life January 2025, refer https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563).
+  * ``lbr_bringup``: Updated launch files and dependencies.
+  * ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble). 
+  * ``lbr_ros2_control``: Changed ``gazebo_ros2_control/GazeboSystem`` -> ``ign_ros2_control/IgnitionSystem```
+
 Humble v2.1.0 (2024-09-10)
 --------------------------
 * De-couple launch files from ``lbr_bringup`` for easier customization (breaking change):
diff --git a/CITATION.cff b/CITATION.cff
index 90ea1234..83e295ed 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.1.0
+version: 2.1.1
 doi: 10.48550/arXiv.2311.12709
-date-released: 2024-09-10
+date-released: 2024-09-27
diff --git a/lbr_bringup/launch/gazebo.launch.py b/lbr_bringup/launch/gazebo.launch.py
index 0ff93e5b..bc1ff586 100644
--- a/lbr_bringup/launch/gazebo.launch.py
+++ b/lbr_bringup/launch/gazebo.launch.py
@@ -38,10 +38,10 @@ def generate_launch_description() -> LaunchDescription:
 
     # Gazebo
     ld.add_action(GazeboMixin.include_gazebo())  # Gazebo has its own controller manager
-    spawn_entity = GazeboMixin.node_spawn_entity(
-        tf=world_robot_tf
+    ld.add_action(GazeboMixin.node_clock_bridge())
+    ld.add_action(
+        GazeboMixin.node_create(tf=world_robot_tf)
     )  # spawns robot in Gazebo through robot_description topic of robot_state_publisher
-    ld.add_action(spawn_entity)
 
     # controllers
     joint_state_broadcaster = LBRROS2ControlMixin.node_controller_spawner(
diff --git a/lbr_bringup/launch/move_group.launch.py b/lbr_bringup/launch/move_group.launch.py
index 3d1f0bdd..8a966915 100644
--- a/lbr_bringup/launch/move_group.launch.py
+++ b/lbr_bringup/launch/move_group.launch.py
@@ -75,6 +75,10 @@ def hidden_setup(context: LaunchContext) -> List[LaunchDescriptionEntity]:
                 "robot_description_semantic",
                 PathJoinSubstitution([robot_name, "robot_description_semantic"]),
             ),
+            (
+                "recognized_object_array",
+                PathJoinSubstitution([robot_name, "recognized_object_array"]),
+            ),
         ],
         condition=IfCondition(LaunchConfiguration("rviz")),
     )
diff --git a/lbr_bringup/lbr_bringup/gazebo.py b/lbr_bringup/lbr_bringup/gazebo.py
index 145e052d..07e74c6c 100644
--- a/lbr_bringup/lbr_bringup/gazebo.py
+++ b/lbr_bringup/lbr_bringup/gazebo.py
@@ -14,17 +14,18 @@ def include_gazebo(**kwargs) -> IncludeLaunchDescription:
             PythonLaunchDescriptionSource(
                 PathJoinSubstitution(
                     [
-                        FindPackageShare("gazebo_ros"),
+                        FindPackageShare("ros_gz_sim"),
                         "launch",
-                        "gazebo.launch.py",
+                        "gz_sim.launch.py",
                     ]
-                )
+                ),
             ),
+            launch_arguments={"gz_args": "-r empty.sdf"}.items(),
             **kwargs,
         )
 
     @staticmethod
-    def node_spawn_entity(
+    def node_create(
         robot_name: Optional[Union[LaunchConfiguration, str]] = LaunchConfiguration(
             "robot_name", default="lbr"
         ),
@@ -34,16 +35,27 @@ def node_spawn_entity(
         label = ["-x", "-y", "-z", "-R", "-P", "-Y"]
         tf = [str(x) for x in tf]
         return Node(
-            package="gazebo_ros",
-            executable="spawn_entity.py",
+            package="ros_gz_sim",
+            executable="create",
             arguments=[
                 "-topic",
                 "robot_description",
-                "-entity",
+                "-name",
                 robot_name,
+                "-allow_renaming",
             ]
             + [item for pair in zip(label, tf) for item in pair],
             output="screen",
             namespace=robot_name,
             **kwargs,
         )
+
+    @staticmethod
+    def node_clock_bridge(**kwargs) -> Node:
+        return Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            arguments=["/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock"],
+            output="screen",
+            **kwargs,
+        )
diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
index 342ef1ef..dba3730d 100644
--- a/lbr_bringup/package.xml
+++ b/lbr_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_bringup</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>LBR launch files.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
@@ -10,18 +10,19 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <exec_depend>lbr_description</exec_depend>
-  <exec_depend>lbr_fri_ros2</exec_depend>
-  <exec_depend>lbr_ros2_control</exec_depend>
   <exec_depend>controller_manager</exec_depend>
+  <exec_depend>ign_ros2_control</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>xacro</exec_depend>
+  <exec_depend>lbr_description</exec_depend>
+  <exec_depend>lbr_fri_ros2</exec_depend>
+  <exec_depend>lbr_ros2_control</exec_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
-  <exec_depend>gazebo_ros2_control</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>rclpy</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/lbr_demos/lbr_demos_advanced_cpp/package.xml b/lbr_demos/lbr_demos_advanced_cpp/package.xml
index 81e0b2e5..069d424a 100644
--- a/lbr_demos/lbr_demos_advanced_cpp/package.xml
+++ b/lbr_demos/lbr_demos_advanced_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_advanced_cpp</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Advanced C++ demos for the lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
diff --git a/lbr_demos/lbr_demos_advanced_py/package.xml b/lbr_demos/lbr_demos_advanced_py/package.xml
index ade1df84..3a646a59 100644
--- a/lbr_demos/lbr_demos_advanced_py/package.xml
+++ b/lbr_demos/lbr_demos_advanced_py/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_advanced_py</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Advanced Python demos for the lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <maintainer email="mower.chris@gmail.com">cmower</maintainer>
diff --git a/lbr_demos/lbr_demos_advanced_py/setup.py b/lbr_demos/lbr_demos_advanced_py/setup.py
index d3dcdd20..a3ab1449 100644
--- a/lbr_demos/lbr_demos_advanced_py/setup.py
+++ b/lbr_demos/lbr_demos_advanced_py/setup.py
@@ -6,7 +6,7 @@
 
 setup(
     name=package_name,
-    version="2.1.0",
+    version="2.1.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_demos_cpp/package.xml b/lbr_demos/lbr_demos_cpp/package.xml
index f3d80e96..7172ae22 100644
--- a/lbr_demos/lbr_demos_cpp/package.xml
+++ b/lbr_demos/lbr_demos_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_cpp</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>C++ demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
diff --git a/lbr_demos/lbr_demos_py/package.xml b/lbr_demos/lbr_demos_py/package.xml
index 6829f32e..dadc747e 100644
--- a/lbr_demos/lbr_demos_py/package.xml
+++ b/lbr_demos/lbr_demos_py/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_demos_py</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Python demos for lbr_ros2_control.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
diff --git a/lbr_demos/lbr_demos_py/setup.py b/lbr_demos/lbr_demos_py/setup.py
index c3af4e8a..a38dae9e 100644
--- a/lbr_demos/lbr_demos_py/setup.py
+++ b/lbr_demos/lbr_demos_py/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version="2.1.0",
+    version="2.1.1",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/lbr_demos/lbr_moveit_cpp/package.xml b/lbr_demos/lbr_moveit_cpp/package.xml
index dbda4e53..17bcf85c 100644
--- a/lbr_demos/lbr_moveit_cpp/package.xml
+++ b/lbr_demos/lbr_moveit_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_moveit_cpp</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>Demo for using MoveIt C++ API.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache-2.0</license>
diff --git a/lbr_description/gazebo/lbr_gazebo.xacro b/lbr_description/gazebo/lbr_gazebo.xacro
index 49495d90..a828c0d5 100644
--- a/lbr_description/gazebo/lbr_gazebo.xacro
+++ b/lbr_description/gazebo/lbr_gazebo.xacro
@@ -4,12 +4,11 @@
 
         <!-- ros_control-plugin -->
         <gazebo>
-            <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+            <plugin name="ign_ros2_control::IgnitionROS2ControlPlugin"
+                filename="ign_ros2_control-system">
                 <parameters>$(find lbr_ros2_control)/config/lbr_controllers.yaml</parameters>
                 <ros>
                     <namespace>/${robot_name}</namespace>
-                    <!-- remapping for controller manager inside Gazebo plugin -->
-                    <remapping>~/robot_description:=robot_description</remapping>
                 </ros>
             </plugin>
         </gazebo>
diff --git a/lbr_description/lbr_description.dsv b/lbr_description/lbr_description.dsv
index cd4ca905..84de9292 100644
--- a/lbr_description/lbr_description.dsv
+++ b/lbr_description/lbr_description.dsv
@@ -1 +1 @@
-prepend-non-duplicate;GAZEBO_MODEL_PATH;share
\ No newline at end of file
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share
\ No newline at end of file
diff --git a/lbr_description/package.xml b/lbr_description/package.xml
index 93829da1..a00fd055 100644
--- a/lbr_description/package.xml
+++ b/lbr_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_description</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>KUKA LBR description files</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
@@ -10,11 +10,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_pytest</buildtool_depend>
 
-  <exec_depend>gazebo_ros2_control</exec_depend>
+  <exec_depend>ign_ros2_control</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <test_depend>python3-pytest</test_depend>
diff --git a/lbr_fri_ros2/package.xml b/lbr_fri_ros2/package.xml
index d5d2cc6c..58e5b7ce 100644
--- a/lbr_fri_ros2/package.xml
+++ b/lbr_fri_ros2/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_fri_ros2</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>The lbr_fri_ros2 package provides the Fast Robot Interface (FRI) integration into ROS
     2. Robot states can be extracted and commanded.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
diff --git a/lbr_fri_ros2_stack/package.xml b/lbr_fri_ros2_stack/package.xml
index 8025516c..0f611574 100644
--- a/lbr_fri_ros2_stack/package.xml
+++ b/lbr_fri_ros2_stack/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_fri_ros2_stack</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>ROS 2 stack for KUKA LBRs.</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>
diff --git a/lbr_ros2_control/config/lbr_system_interface.xacro b/lbr_ros2_control/config/lbr_system_interface.xacro
index ab2e8664..23738b9a 100644
--- a/lbr_ros2_control/config/lbr_system_interface.xacro
+++ b/lbr_ros2_control/config/lbr_system_interface.xacro
@@ -15,7 +15,7 @@
             </xacro:if>
             <xacro:if value="${mode == 'gazebo'}">
                 <hardware>
-                    <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+                    <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </hardware>
             </xacro:if>
             <xacro:if value="${mode == 'hardware'}">
@@ -98,10 +98,14 @@
                         <param name="min">${min_position}</param>
                         <param name="max">${max_position}</param>
                     </command_interface>
-                    <command_interface name="effort">
-                        <param name="min">-${max_torque}</param>
-                        <param name="max"> ${max_torque}</param>
-                    </command_interface>
+                    <!-- only single command interface, refer
+                    https://github.com/ros-controls/gz_ros2_control/issues/182 -->
+                    <xacro:unless value="${mode == 'gazebo'}">
+                        <command_interface name="effort">
+                            <param name="min">-${max_torque}</param>
+                            <param name="max"> ${max_torque}</param>
+                        </command_interface>
+                    </xacro:unless>
                     <state_interface name="position" />
                     <state_interface name="velocity" />
                     <state_interface name="effort" />
diff --git a/lbr_ros2_control/package.xml b/lbr_ros2_control/package.xml
index 08e32b2f..b1326dc5 100644
--- a/lbr_ros2_control/package.xml
+++ b/lbr_ros2_control/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>lbr_ros2_control</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>ROS 2 hardware hardware_interface for KUKA LBR through Fast Robot Interface (FRI).</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
   <license>Apache License 2.0</license>