diff --git a/ur_gazebo/launch/ur10.launch b/ur_gazebo/launch/ur10.launch
index 6aaf93ab1b8e07551f24ca62e996ea3b7b69ffd8..e06259c968703be6be87d487085d52da65b01649 100644
--- a/ur_gazebo/launch/ur10.launch
+++ b/ur_gazebo/launch/ur10.launch
@@ -2,11 +2,13 @@
 <launch>
   <arg name="limited" default="false"/>
   <arg name="paused" default="false"/>
-
+  <arg name="gui" default="true"/>
+  
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" default="worlds/empty.world"/>
     <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
   <!-- send robot urdf to param server -->
diff --git a/ur_gazebo/launch/ur10_joint_limited.launch b/ur_gazebo/launch/ur10_joint_limited.launch
index 58698e2b652989a9a5451d61dca2c864f73c8e86..d482944a4aaf1e4777427fb82d8170f54458ee59 100644
--- a/ur_gazebo/launch/ur10_joint_limited.launch
+++ b/ur_gazebo/launch/ur10_joint_limited.launch
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="gui" default="true"/>
 
   <include file="$(find ur_gazebo)/launch/ur10.launch">
     <arg name="limited" value="true"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
 </launch>
diff --git a/ur_gazebo/launch/ur5.launch b/ur_gazebo/launch/ur5.launch
index cd8363d5fc6a90024f684bc1d4200e46939979b3..cd0f13954e966dad0047fe292318f45d154cc58e 100644
--- a/ur_gazebo/launch/ur5.launch
+++ b/ur_gazebo/launch/ur5.launch
@@ -2,11 +2,13 @@
 <launch>
   <arg name="limited" default="false"/>
   <arg name="paused" default="false"/>
+  <arg name="gui" default="true"/>
   
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" default="worlds/empty.world"/>
     <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
   <!-- send robot urdf to param server -->
diff --git a/ur_gazebo/launch/ur5_joint_limited.launch b/ur_gazebo/launch/ur5_joint_limited.launch
index c6050cbf6a0544f8becf09a29e6207056ecd0c42..9538638e661cbef5c8388ea061d0625333d3c1ac 100644
--- a/ur_gazebo/launch/ur5_joint_limited.launch
+++ b/ur_gazebo/launch/ur5_joint_limited.launch
@@ -1,8 +1,10 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="gui" default="true"/>
 
   <include file="$(find ur_gazebo)/launch/ur5.launch">
     <arg name="limited" value="true"/>
+    <arg name="gui" value="$(arg gui)"/>
   </include>
 
 </launch>