message: FIX: Only spawn franka_gripper (sim) if launch with `use_gripper:=true`
diff: $(arg initial_joint_positions)">
  </node>
  + <!-- Spawn required ROS controllers -->
  + <node pkg="controller_manager"
  + type="spawner"
  + name="$(arg arm_id)_gripper_spawner"
  + if="$(arg use_gripper)"
  + args="franka_gripper"
  + respawn="false"
  + />
  <node pkg="controller_manager"
  type="spawner"
  name="$(arg arm_id)_controller_spawner"
  respawn="false" output="screen"
  args="franka_state_controller
  - franka_gripper
  cartesian_impedance_example_controller">
  </node>
  <remap to="cartesian_impedance_example_controller/equilibrium_pose" from="equilibrium_pose" />
  