<rosparamif="$(eval load_gripper and publish_desired_values)"param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparamif="$(eval load_gripper and not publish_desired_values)"param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparamif="$(eval not load_gripper and publish_desired_values)"param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
<rosparamif="$(eval not load_gripper and not publish_desired_values)"param="source_list">[franka_state_controller/joint_states] </rosparam>