diff --git a/Tools/gazebo_sitl_multiple_run.sh b/Tools/gazebo_sitl_multiple_run.sh
index 1b708fa174..22761febc3 100755
--- a/Tools/gazebo_sitl_multiple_run.sh
+++ b/Tools/gazebo_sitl_multiple_run.sh
@@ -86,8 +86,15 @@ sleep 1
 
 source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
 
+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
+gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
 sleep 5
 
 n=0
diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 5cd3e377b6..25a5a8c390 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -56,6 +56,13 @@ else
     follow_mode=""
 fi
 
+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 if [ "$program" == "jmavsim" ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -133,7 +140,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
-		gzserver $verbose $world_path &
+		gzserver $verbose $world_path $ros_args &
 		SIM_PID=$!
 
 		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model