inv_pen.launch

<launch>
    <arg name="vis" default="true" />

    <node pkg="intera_interface" type="enable_robot.py" name="enable_robot" args="-e" />
    <node name="controller" pkg="inverted_pendulum" type="controller.py">  </node>
    <node name="ik_horizontal" pkg="inverted_pendulum" type="ik_horizontal.py">  </node>
    <node name="pen_sim" pkg="inverted_pendulum" type="pen_marker.py"/>
    <node name="rollAng" pkg="inverted_pendulum" type="rollAngle.py"/>
    <group if="$(arg vis)">
    <node pkg="rviz" type="rviz" respawn="false" name="rviz"
	  args="-d $(find inverted_pendulum)/config/real_invpen.rviz" />
  </group>
</launch>