Launch arguments

The main bringup starts the orchestrator and core task servers. Vision and pipettor servers are opt-in: both enable flags default to false. The orchestrator starts MoveIt when a goal needs it. Set BEAMBOT_BEAMLINE_CONFIG in the launch environment; the beamline selection is not a launch argument.

Argument	Default	Effect
`enable_vision`	`false`	Launch vision/sample servers and the Zivid camera
`enable_pipettor`	`false`	Enable pipettor server
`use_mock_hardware`	`false`	Use mock UR control; other devices remain separately configured.
`enable_joystick`	`false`	Enable gamepad control when MoveIt starts
`enable_batching`	`true`	Group consecutive compatible tasks into one MTC task.
`enable_tracing`	`false`	Enable ros2_tracing (LTTng). Writes CTF trace to ~/.ros/tracing/<trace_session_name>-/. Analyze with: ros2 run tracetools_analysis auto
`trace_session_name`	`beambot`	LTTng session name (timestamp is appended automatically)
`orchestrator_log_level`	`info`	Set the orchestrator logger severity: debug, info, warn, error, or fatal.

Effect of disabling a subsystem

enable_vision:=false suppresses the Zivid node, scan server, unified vision-task server, and sample server. It also removes the legacy non-vision pick/place endpoints hosted by the sample server.
enable_pipettor:=false suppresses the pipettor action server.
use_mock_hardware:=true selects mock UR control through the orchestrator’s MoveIt launch. It does not automatically disable cameras, pipettor operations, or every tool driver.
enable_tracing controls the trace action, but tracetools_launch is imported when the launch file loads. Disabling tracing does not remove that Python import requirement.

For an introductory mock session, use the explicit command in Run your first task and restrict the task to a tool-free MoveTo. Other MoveIt/UR launch files have their own arguments; see robot models.

Implementation: src/beambot/launch/beambot_bringup.launch.py.