diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index cde273fc..cc749f29 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -216,6 +216,26 @@
   if defined?(levels) && levels != nil && !levels.empty?
     $levels = levels.downcase == "true"
   end
+
+  $websocketAuthKey = ""
+  if defined?(websocketAuthKey) && websocketAuthKey != nil && !websocketAuthKey.empty?
+    $websocketAuthKey = websocketAuthKey
+  end
+
+  $websocketAdminAuthKey = ""
+  if defined?(websocketAdminAuthKey) && websocketAdminAuthKey != nil && !websocketAdminAuthKey.empty?
+    $websocketAdminAuthKey = websocketAdminAuthKey
+  end
+
+  $websocketSSLCertFile = ""
+  if defined?(websocketSSLCertFile) && websocketSSLCertFile != nil && !websocketSSLCertFile.empty?
+    $websocketSSLCertFile = websocketSSLCertFile
+  end
+
+  $websocketSSLKeyFile = ""
+  if defined?(websocketSSLKeyFile) && websocketSSLKeyFile != nil && !websocketSSLKeyFile.empty?
+    $websocketSSLKeyFile = websocketSSLKeyFile
+  end
 %>
 
 <ignition version='1.0'>
@@ -224,6 +244,19 @@
     <value>$LD_LIBRARY_PATH</value>
   </env>
 
+  <!-- Run the websocket server -->
+  <plugin name="ignition::launch::WebsocketServer"
+          filename="libignition-launch-websocket-server.so">
+    <publication_hz>30</publication_hz>
+    <port>9002</port>
+    <authorization_key><%= $websocketAuthKey %></authorization_key>
+    <admin_authorization_key><%= $websocketAdminAuthKey %></admin_authorization_key>
+    <ssl>
+      <cert_file><%= $websocketSSLCertFile %></cert_file>
+      <private_key_file><%= $websocketSSLKeyFile %></private_key_file>
+    </ssl>
+  </plugin>
+
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
     <% if $worldName.include?('tunnel_circuit_') &&