sim_arm.launch

<launch>
  <arg name="UnitreeGripperYN" default="true"/>
  <arg name="RealSense" default="true"/>

  <arg name="controller" default="true" />
  <arg name="ros_controller" default="true" />
  <arg name="moveit" default="true" />
  <arg name="rviz" default="false" />

  <include file="$(find z1_bringup)/launch/sim_ctrl.launch" if="$(arg controller)">
    <arg name="UnitreeGripperYN" value="$(arg UnitreeGripperYN)"/>
    <!-- <arg name="RealSense" value="$(arg RealSense)"/> -->
  </include>

  <group if="$(arg RealSense)">
      <node name="image_proc" pkg="image_proc" type="image_proc" ns="camera/color"/>
  </group>

  <group if="$(arg ros_controller)">
    <include file="$(find z1_hw)/launch/z1_hw.launch">
      <arg name="UnitreeGripper" value="$(arg UnitreeGripperYN)"/>
    </include>
  </group>

  <include file="$(find z1_moveit_config)/launch/move_group.launch" if="$(arg moveit)"/>

  <include file="$(find z1_rviz)/launch/view_robot.launch" if="$(arg rviz)"/>
</launch>