Headless and starter kit right configs are not handled properly in Reachy's main launch file.

[simheo]

When working with the headless configuration, the following nodes are still started:

• camera_publisher_node,
• camera_focus_node,
• camera_zoom_node,
• sdk_camera_server_node,
• antenna_forward_position_controller_spawner.

The logic in the IfCondition is not done properly.