Hi There !

Could be an easy question, but I can't figure it out.

I would like to use a launch file main_launch.launch.py to launch a Gazebo Sim simulation in the state paused or playing according to a parameter sim_paused which I would like to be a parameter(launch argument) of the main_launch.launch.py file.

I understand from the gzros2control_demo repo that I can choose to launch the gzsim.launch.py from rosgz_sim package with or without -r argument. The '-r' arg meaning that the simulation will be running.

Example how to call the gz_sim.launch.py with '-r' :

   # Launch gazebo environment
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(
                    [os.path.join(get_package_share_directory('ros_gz_sim'),
                                  'launch', 'gz_sim.launch.py')]),
                launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]),

But then, how can I use the incomming launch argument sim_paused to activate or not '-r' in gz_sim.launch.py ?

# Launch configuration variables 
    sim_paused= LaunchConfiguration('sim_paused')    

    declare_sim_paused = DeclareLaunchArgument(
        'sim_paused',
        default_value='False',
        description='Whether to start Gazebo paused')