diff --git a/simulation/halsim_gazebo/build.gradle b/simulation/halsim_gazebo/build.gradle
index 286f959c9b..63e880917c 100644
--- a/simulation/halsim_gazebo/build.gradle
+++ b/simulation/halsim_gazebo/build.gradle
@@ -7,8 +7,6 @@ ext.skiplinuxathena = true
 ext.skiplinuxraspbian = true
 ext.pluginName = 'halsim_gazebo'
 
-apply from: "${rootDir}/shared/config.gradle"
-
 /* If gz_msgs or gazebo is not available, do not attempt a build */
 def gazebo_version = ""
 def gazebo_cppflags = ""
@@ -36,8 +34,10 @@ if (!gazebo_version?.trim()) {
 evaluationDependsOn(":simulation:gz_msgs")
 def gz_msgs_project = project(":simulation:gz_msgs")
 
-tasks.whenTaskAdded { task ->
-    task.onlyIf { !gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins') }
+if (!gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins')) {
+
+    apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
+
 }
 
 model {