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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.

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...