diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index d04991f19c..9d19fe5f9a 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -1,6 +1,18 @@
 <launch>
 
-<include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
-<include file="$(find px4)/launch/ardrone.launch" />
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="log_file" default="ardrone"/>
+
+    <include file="$(find rotors_gazebo)/launch/ardrone_empty_world_with_joy.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/ardrone.launch" />
 
 </launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
index d1bb2043aa..c636868eb2 100644
--- a/launch/gazebo_ardrone_house_world.launch
+++ b/launch/gazebo_ardrone_house_world.launch
@@ -1,6 +1,18 @@
 <launch>
 
-<include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch" />
-<include file="$(find px4)/launch/ardrone.launch" />
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="log_file" default="ardrone"/>
+
+    <include file="$(find rotors_gazebo)/launch/ardrone_house_world_with_joy.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/ardrone.launch" />
 
 </launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
index d69b7d0069..8a4c128b90 100644
--- a/launch/gazebo_iris_empty_world.launch
+++ b/launch/gazebo_iris_empty_world.launch
@@ -1,6 +1,18 @@
 <launch>
 
-<include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch" />
-<include file="$(find px4)/launch/iris.launch" />
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="log_file" default="iris"/>
+
+    <include file="$(find rotors_gazebo)/launch/iris_empty_world_with_joy.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/iris.launch" />
 
 </launch>
diff --git a/launch/gazebo_iris_house_world.launch b/launch/gazebo_iris_house_world.launch
index 2e88e157c9..e4f9f6532c 100644
--- a/launch/gazebo_iris_house_world.launch
+++ b/launch/gazebo_iris_house_world.launch
@@ -1,6 +1,18 @@
 <launch>
 
-<include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch" />
-<include file="$(find px4)/launch/iris.launch" />
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="log_file" default="iris"/>
+
+    <include file="$(find rotors_gazebo)/launch/iris_house_world_with_joy.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/iris.launch" />
 
 </launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
index a1df06496b..22d55502d3 100644
--- a/launch/gazebo_iris_outdoor_world.launch
+++ b/launch/gazebo_iris_outdoor_world.launch
@@ -1,6 +1,18 @@
 <launch>
 
-<include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch" />
-<include file="$(find px4)/launch/iris.launch" />
+    <arg name="headless" default="false"/>
+    <arg name="gui" default="true"/>
+    <arg name="enable_logging" default="false"/>
+    <arg name="enable_ground_truth" default="true"/>
+    <arg name="log_file" default="iris"/>
+
+    <include file="$(find rotors_gazebo)/launch/iris_outdoor_world_with_joy.launch">
+        <arg name="headless" value="$(arg headless)"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="enable_logging" value="$(arg enable_logging)" />
+        <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+        <arg name="log_file" value="$(arg log_file)"/>
+    </include>
+    <include file="$(find px4)/launch/iris.launch" />
 
 </launch>