You can start the simulation in different configurations depending on your needs.
To launch the standard simulation without any additional peripherals:
roslaunch arm26_config demo_gazebo.launch
To start the simulation with the keyboard model included:
roslaunch arm26_config demo_gazebo.launch keyboard:=true
To start the simulation with the interaction panel included:
roslaunch arm26_config demo_gazebo.launch panel:=true
To start ArUco detect:
roslaunch aruco_detect aruco_detect.launch
Behavior tree can be started using:
rosrun panel_bhv main.py