``` <?xml version="0.0"?> <launch> <!-- Launch Joystick and Blockly server --> <arg name="simulation_mode" default="false" /> <arg name="joy_enabled" default="true" /> <group if="$(arg joy_enabled)"> <param name="joy_node/deadzone" value="0.2" type="double"/> <param name="joy_node/coalesce_interval" value="0.1" type="double"/> <node name="joy_node" pkg="joy" type="joy_node" output="screen" respawn="false" /> </group> <node name="user_interface" pkg="gauss_user_interface" type="user_interface.py" output="screen" respawn="false"> <param name="joystick_timer_rate_sec" type="double" value="0.15" /> <!-- this folder is in .gitignore --> <param name="gauss_blockly_path" type="string" value="~/tmp_blockly" /> <param name="gauss_blockly_tcp_port" type="int" value="1337" /> <param name="sequence_code_to_execute_path" type="string" value="~/tmp_code_to_execute" /> <param name="sequences_dir" type="string" value="~/gauss_sequences" unless="$(arg simulation_mode)"/> <param name="sequences_dir" type="string" value="~/gauss_sequences" if="$(arg simulation_mode)"/> <param name="sequence_autorun_status_file" type="string" value="/home/gauss/gauss_saved_values/sequence_autorun_status.txt" unless="$(arg simulation_mode)"/> <param name="sequence_autorun_status_file" type="string" value="/home/gauss/gauss_saved_values/sequence_autorun_status.txt" if="$(arg simulation_mode)"/> </node> </launch> ```