Merge branch 'main' into tool_contact

Author: URJala

ur_robot_driver/launch/ur_control.launch.py

@@ -184,6 +184,9 @@ def controller_spawner(controllers, active=True):
         controllers_active.append(initial_joint_controller.perform(context))
         controllers_inactive.remove(initial_joint_controller.perform(context))
 
+    if use_mock_hardware.perform(context) == "true":
+        controllers_active.remove("tcp_pose_broadcaster")
+
     controller_spawners = [
         controller_spawner(controllers_active),
         controller_spawner(controllers_inactive, active=False),