[iri_segway_rmp200]

  - update launch files

launch/iri_segway_rmp200.launch

 <!-- -->
 <launch>
 
-  <arg name="launch_rviz" default="True" />
+  <arg name="launch_rviz" default="False" />
+  <arg name="teleop"      default="True" />
+  <arg name="wiimote"     default="True" />
 
   <group ns="$(env ROBOT)">
 
@@ -31,6 +33,16 @@
 
   </group>
 
+  <!-- teleoperation -->
+  <group if="$(arg teleop)">
+    <!-- wiimote teleop -->
+    <include file="$(find iri_wiimote_teleop)/launch/iri_wiimote_teleop.launch"
+              if="$(arg wiimote)" />
+    <!-- gamepad teleop -->
+    <include file="$(find iri_gamepad_teleop)/launch/iri_gamepad_teleop.launch"
+              unless="$(arg wiimote)" />
+  </group>
+
   <!-- rviz configurated -->
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_segway_rmp200)/config/iri_segway_rmp200.vcg" 
         if="$(arg launch_rviz)" />