diff --git a/ur_simulation_gz/launch/ur_sim_control.launch.py b/ur_simulation_gz/launch/ur_sim_control.launch.py
index b94c2b2..d3808b2 100644
--- a/ur_simulation_gz/launch/ur_sim_control.launch.py
+++ b/ur_simulation_gz/launch/ur_sim_control.launch.py
@@ -38,7 +38,13 @@
 from launch.conditions import IfCondition, UnlessCondition
 from launch.event_handlers import OnProcessExit
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+    IfElseSubstitution,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -58,6 +64,8 @@ def launch_setup(context, *args, **kwargs):
     start_joint_controller = LaunchConfiguration("start_joint_controller")
     initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     launch_rviz = LaunchConfiguration("launch_rviz")
+    gazebo_gui = LaunchConfiguration("gazebo_gui")
+    world_file = LaunchConfiguration("world_file")
 
     initial_joint_controllers = PathJoinSubstitution(
         [FindPackageShare(runtime_config_package), "config", controllers_file]
@@ -165,7 +173,13 @@ def launch_setup(context, *args, **kwargs):
         PythonLaunchDescriptionSource(
             [FindPackageShare("ros_gz_sim"), "/launch/gz_sim.launch.py"]
         ),
-        launch_arguments={"gz_args": " -r -v 4 empty.sdf"}.items(),
+        launch_arguments={
+            "gz_args": IfElseSubstitution(
+                gazebo_gui,
+                if_value=[" -r -v 4 ", world_file],
+                else_value=[" -s -r -v 4 ", world_file],
+            )
+        }.items(),
     )
 
     nodes_to_start = [
@@ -270,5 +284,17 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument("launch_rviz", default_value="true", description="Launch RViz?")
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "gazebo_gui", default_value="true", description="Start gazebo with GUI?"
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "world_file",
+            default_value="empty.sdf",
+            description="Gazebo world file (absolute path or filename from the gazebosim worlds collection) containing a custom world.",
+        )
+    )
 
     return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])