diff --git a/scripts/dev/start-ros-receiver.sh b/scripts/dev/start-ros-receiver.sh
index 2c17850..4c28c51 100755
--- a/scripts/dev/start-ros-receiver.sh
+++ b/scripts/dev/start-ros-receiver.sh
@@ -17,14 +17,26 @@ source_with_nounset_off "/opt/ros/${ROS_DISTRO}/setup.bash"
 cd "${ROS_CONTROL_PY_DIR}"
 source_with_nounset_off "install/setup.bash"
 
-exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py \
-  "transport:=${ROBOT_RECEIVER_TRANSPORT}" \
-  "server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}" \
-  "relay_via:=${ROBOT_RECEIVER_RELAY_VIA}" \
-  "peer_id:=${ROBOT_RECEIVER_PEER_ID}" \
-  "expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}" \
-  "local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}" \
-  "output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}" \
-  "frame_id:=${ROBOT_RECEIVER_FRAME_ID}" \
-  "watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}" \
+launch_args=(
+  "transport:=${ROBOT_RECEIVER_TRANSPORT}"
+  "peer_id:=${ROBOT_RECEIVER_PEER_ID}"
+  "local_socket_path:=${ROBOT_RECEIVER_LOCAL_SOCKET_PATH}"
+  "output_topic:=${ROBOT_RECEIVER_OUTPUT_TOPIC}"
+  "frame_id:=${ROBOT_RECEIVER_FRAME_ID}"
+  "watchdog_timeout:=${ROBOT_RECEIVER_WATCHDOG_TIMEOUT}"
   "publish_rate_hz:=${ROBOT_RECEIVER_PUBLISH_RATE_HZ}"
+)
+
+if [[ -n "${ROBOT_RECEIVER_SERVER_ADDR}" ]]; then
+  launch_args+=("server_addr:=${ROBOT_RECEIVER_SERVER_ADDR}")
+fi
+
+if [[ -n "${ROBOT_RECEIVER_RELAY_VIA}" ]]; then
+  launch_args+=("relay_via:=${ROBOT_RECEIVER_RELAY_VIA}")
+fi
+
+if [[ -n "${ROBOT_RECEIVER_EXPECTED_SENDER}" ]]; then
+  launch_args+=("expected_sender:=${ROBOT_RECEIVER_EXPECTED_SENDER}")
+fi
+
+exec ros2 launch udp_teleop_bridge robot_udp_receiver.launch.py "${launch_args[@]}"