unitree_ros/unitree_legged_real/launch/real.launch

<launch>
    <arg name="rname" default="a1"/>
    <arg name="ctrl_level" default="highlevel"/>
    <arg name="firmwork" default="3_2"/>

    <node pkg="unitree_legged_real" type="lcm_server_$(arg firmwork)" name="node_lcm_server"
          respawn="false" output="screen" args="$(arg rname) $(arg ctrl_level)" />

    <param name="robot_name" value="$(arg rname)"/>
    <param name="control_level" value="$(arg ctrl_level)"/>
    <param name="firmwork" value="$(arg firmwork)"/>
</launch>