diff --git a/rbs_simulation/launch/simulation.launch.py b/rbs_simulation/launch/simulation.launch.py
index 46b5665..431b92d 100644
--- a/rbs_simulation/launch/simulation.launch.py
+++ b/rbs_simulation/launch/simulation.launch.py
@@ -80,6 +80,7 @@ def generate_launch_description():
             '/outer_rgbd_camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked'
         ],
         output='screen',
+        condition=IfCondition(sim_gazebo)
     )