unitree_ros/unitree_gazebo/launch/z1.launch

<launch>
    <arg name="wname" default="earth"/>
    <arg name="rname" default="z1"/>
    <arg name="robot_path" value="(find $(arg rname)_description)"/>
    <arg name="dollar" value="$"/>

    <arg name="paused" default="true"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>
    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
    <arg name="user_debug" default="false"/>
    <arg name="UnitreeGripperYN" default="true"/>
    
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- Load the URDF into the ROS Parameter Server -->
    <param name="robot_description"
           command="$(find xacro)/xacro --inorder '$(arg dollar)$(arg robot_path)/xacro/robot.xacro' 
           UnitreeGripper:=$(arg UnitreeGripperYN)"/>

    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
    <!-- Set trunk and joint positions at startup -->
    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
          args="-urdf -z 0.0 -model $(arg rname)_gazebo -param robot_description -unpause"/>

    <!-- Load joint controller configurations from YAML file to parameter server -->
    <rosparam file="$(arg dollar)$(arg robot_path)/config/robot_control.yaml" command="load"/>

    <!-- load the controllers -->
    <group unless="$(arg UnitreeGripperYN)">
        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
            Joint01_controller Joint02_controller Joint03_controller
            Joint04_controller Joint05_controller Joint06_controller"/>
    </group>

    <group if="$(arg UnitreeGripperYN)">
        <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
            output="screen" ns="/$(arg rname)_gazebo" args="joint_state_controller 
            Joint01_controller Joint02_controller Joint03_controller 
            Joint04_controller Joint05_controller Joint06_controller 
            gripper_controller"/>
    </group>

    <!-- convert joint states to TF transforms for rviz, etc -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"
          respawn="false" output="screen">
        <remap from="/joint_states" to="/$(arg rname)_gazebo/joint_states"/>
    </node>

</launch>