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<launch>

<launch>

  <arg name="nao_ip"  default="$(optenv NAO_IP)"/>
NAO_IP)" />
  <arg name="nao_port"  default="$(optenv NAO_PORT 9559)"/>
 
9559)" />

  <arg name="roscore_ip" default="127.0.0.1"/>
         default="127.0.0.1" />
  <arg name="network_interface" default="eth0"/>
 
  default="eth0" />

  <arg name="namespace" default="pepper_robot"/>
 
           default="pepper_robot" />

  <!-- naoqi driver -->
  <include file="$(find naoqi_driver)/launch/naoqi_driver.launch" &gt;="" <arg=""  >
    <arg name="nao_ip" value="$(arg nao_ip)"/>
           value="$(arg nao_ip)" />
    <arg name="nao_port" value="$(arg nao_port)"/>
         value="$(arg nao_port)" />
    <arg name="roscore_ip" value="$(arg roscore_ip)"/>
       value="$(arg roscore_ip)" />
    <arg name="network_interface" value="$(arg network_interface)"/>
  </include>
 
 network_interface)" />
  </include>

  <!-- launch pose manager -->
  <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" &gt;="" <arg="" >
    <arg name="nao_ip" value="$(arg nao_ip)"/>
           value="$(arg nao_ip)" />
    <arg name="nao_port" value="$(arg nao_port)"/>
  </include>
 
          value="$(arg nao_port)" />
  </include>

  <!-- launch perception -->
  <include file="$(find pepper_bringup)/launch/perception.launch.xml">
    <arg name="namespace" value="$(arg namespace)"/>
  </include>        value="$(arg namespace)" />
  </include>

</launch>

I can launch "pepper_full.launch" !