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Hello,

I think this thread has the answer. Roslaunch is adding additional arguments, which screws up the pid node. It expects a particular order for the first 4 arguments.

http://ros-users.122217.n3.nabble.com/passing-arguments-to-an-executable-with-roslaunch-td1005764.html

I'm not sure what the workaround is yet. Perhaps I could re-release the package so the command is:

$ rosrun pid controller -Kp 2 -Ki 0.1 -Kd 0.05 -rate 200

It sucks to make the command even longer, though...