data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-1.launch

<?xml version="1.0"?>
<launch>

  <arg name="use_arm_traj_ctrl" default="true"/>

  <!-- launch base controller -->
  <include file="$(find youbot_gazebo_control)/launch/base_controller.launch" />

  <!-- launch arm and gripper controller -->
  <group if="$(arg use_arm_traj_ctrl)">
    <include file="$(find youbot_gazebo_control)/launch/arm_controller.launch" />
  </group>
  <group unless="$(arg use_arm_traj_ctrl)">
    <include file="$(find youbot_gazebo_control)/launch/vel_arm_controller.launch" />
  </group>

  <include file="$(find youbot_gazebo_control)/launch/gripper_controller.launch" />
  <include file="$(find mir_arm_cartesian_control)/ros/launch/arm_cartesian_control_youbot.launch" />

  <include file="$(find mir_twist_mux)/ros/launch/twist_mux.launch" />

</launch>