diff --git a/launch/nav_map.launch b/launch/nav_map.launch
index 87be8b820558577d4595eaf18813bbe11120e226..9eea6acfa49be9566d0e897a6a8dabf33a5b079a 100644
--- a/launch/nav_map.launch
+++ b/launch/nav_map.launch
@@ -15,7 +15,7 @@
   <arg name="use_move_base"           default="true"/>
     <arg name="local_planner"           default="dwa"/>
     <arg name="global_planner"          default="global_planner"/>
-  <arg name="rviz"                    default="true"/>
+  <arg name="rviz"                    default="false"/>
   <arg name="rviz_file"               default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
diff --git a/launch/nav_mapping.launch b/launch/nav_mapping.launch
index e231bd5b6318fec5737e1bcede37d7ed01d6c89a..28b4f47d33f225af23d5e2bae91b5e6f7b3318ba 100644
--- a/launch/nav_mapping.launch
+++ b/launch/nav_mapping.launch
@@ -11,7 +11,7 @@
   <arg name="resolution"              default="0.1"/>
   <arg name="local_planner"           default="dwa"/>
   <arg name="global_planner"          default="global_planner"/>
-  <arg name="rviz"                    default="true"/>
+  <arg name="rviz"                    default="false"/>
   <arg name="rviz_file"               default="$(find iri_turtlebot_launch)/rviz/nav.rviz"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
diff --git a/launch/nav_no_map.launch b/launch/nav_no_map.launch
index 214e770a15acc61c8af02c41899611ab47281058..6b9e2b790200706b5fe8c5c491cb05d0f34ae850 100644
--- a/launch/nav_no_map.launch
+++ b/launch/nav_no_map.launch
@@ -15,7 +15,7 @@
   <arg name="use_move_base"           default="true"/>
     <arg name="local_planner"           default="dwa"/>
     <arg name="global_planner"          default="global_planner"/>
-  <arg name="rviz"                    default="true"/>
+  <arg name="rviz"                    default="false"/>
   <arg name="rviz_file"               default="$(find iri_turtlebot_launch)/rviz/nav_no_map.rviz"/>
   <arg name="output"                  default="screen" />
   <arg name="launch_prefix"           default="" />
diff --git a/launch/real.launch b/launch/real.launch
new file mode 100644
index 0000000000000000000000000000000000000000..b16de69de5ea96eb1e0657cdb23ecb6d72b7f2d0
--- /dev/null
+++ b/launch/real.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <!-- Turtlebot -->
+  <arg name="base"              default="$(env TURTLEBOT_BASE)"         doc="mobile base type [create, roomba]"/>
+  <arg name="battery"           default="$(env TURTLEBOT_BATTERY)"      doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
+  <arg name="stacks"            default="$(env TURTLEBOT_STACKS)"       doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
+  <arg name="3d_sensor"         default="$(env TURTLEBOT_3D_SENSOR)"    doc="3d sensor types [kinect, asux_xtion_pro]"/>
+  <arg name="simulation"        default="$(env TURTLEBOT_SIMULATION)"   doc="set flags to indicate this turtle is run in simulation mode."/>
+  <arg name="serialport"        default="$(env TURTLEBOT_SERIAL_PORT)"  doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
+
+  <param name="/use_sim_time" value="$(arg simulation)"/>
+
+  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
+    <arg name="base" value="$(arg base)" />
+    <arg name="stacks" value="$(arg stacks)" />
+    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
+  </include>
+  <include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
+    <arg name="base" value="$(arg base)" />
+    <arg name="serialport" value="$(arg serialport)" />
+  </include>
+  <include unless="$(eval arg('battery') == 'None')" file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
+    <arg name="battery" value="$(arg battery)" />
+  </include>
+
+  <include file="$(find turtlebot_bringup)/launch/3dsensor.launch">
+    <arg name="rgb_processing" value="false" />
+    <arg name="depth_registration" value="false" />
+    <arg name="depth_processing" value="false" />
+
+    <!-- We must specify an absolute topic name because if not it will be prefixed by "$(arg camera)".
+         Probably is a bug in the nodelet manager: https://github.com/ros/nodelet_core/issues/7 -->
+    <arg name="scan_topic" value="/scan" />
+  </include>
+
+
+</launch>