diff --git a/integrationtests/demo_tests/direct_tests.launch b/integrationtests/demo_tests/direct_tests.launch
index 1a7d843fdc..f332332cfb 100644
--- a/integrationtests/demo_tests/direct_tests.launch
+++ b/integrationtests/demo_tests/direct_tests.launch
@@ -2,7 +2,7 @@
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="log_file" default="iris"/>
 
     <include file="$(find px4)/launch/gazebo_iris_empty_world.launch">
diff --git a/integrationtests/demo_tests/mavros_tests.launch b/integrationtests/demo_tests/mavros_tests.launch
index e42db60434..cc49183076 100644
--- a/integrationtests/demo_tests/mavros_tests.launch
+++ b/integrationtests/demo_tests/mavros_tests.launch
@@ -2,7 +2,7 @@
     <arg name="headless" default="true"/>
     <arg name="gui" default="false"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="ns" default="iris"/>
     <arg name="log_file" default="$(arg ns)"/>
 
diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 122a27867d..7243e7476e 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -3,7 +3,7 @@
     <arg name="headless" default="false"/>
     <arg name="gui" default="true"/>
     <arg name="enable_logging" default="false"/>
-    <arg name="enable_ground_truth" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
     <arg name="ns" default="ardrone"/>
     <arg name="log_file" default="$(arg ns)"/>