works somehow on unity in start config

launch/joy_control.launch.py

@@ -0,0 +1,69 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+    TextSubstitution,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "joy_model",
+            description="Used joystick model (default is T-29)",
+            default_value="T-29.yaml",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="arctic_bot", description="Top-level namespace"
+        ),
+    ]
+
+    joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
+
+    model = LaunchConfiguration("joy_model")
+    joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
+                                       "config",
+                                       model
+                                       ])
+
+    joy_node = Node(
+        package="joy",
+        executable="joy_node",
+        name="joy",
+        namespace=LaunchConfiguration("namespace"),
+        output="both",
+        parameters=[
+            ParameterFile(joy_config),
+        ],
+    )
+
+    joy_control_node = Node(
+        package="unity_robot_controller",
+        executable="joy_control_node",
+        name="joy_control",
+        namespace=LaunchConfiguration("namespace"),
+            output="both",
+            parameters=[
+                ParameterFile(joy_params),
+            ],
+    )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            joy_node,
+            joy_control_node,
+        ]
+    )

launch/unity.launch.py

@@ -54,6 +54,7 @@ def generate_launch_description():
     fe_emulator = Node(
         package="unity_robot_controller",
         executable="fire_extinguisher_emulator_node",
+        namespace=LaunchConfiguration("namespace"),
         parameters=[
             {"use_sim_time": LaunchConfiguration("use_sim_time")},
         ],