Only load descriptions if desired

franka_control/launch/franka_control.launch

@@ -2,8 +2,9 @@
 <launch>
   <arg name="robot_ip" />
   <arg name="load_gripper" default="true" />
+  <arg name="load_description" default="true" />
 
-  <param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />
+  <param name="robot_description" if="$(arg load_description)" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />
 
   <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
     <arg name="robot_ip" value="$(arg robot_ip)" />

franka_gazebo/launch/panda.launch

@@ -9,6 +9,7 @@
   <arg name="rviz"        default="false" doc="Should RVIz be launched?" />
 
   <!-- Robot Customization -->
+  <arg name="load_description"  default="true"  doc="Whether to load robot description" />
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
   <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
   <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force,joint_position,joint_velocity}_example_controller)" />
@@ -40,6 +41,7 @@
   </include>
 
   <param name="robot_description"
+         if="$(arg load_description)"
          command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
                   gazebo:=true
                   hand:=$(arg use_gripper)