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  1. <launch>
  2. <node name="joy_node" pkg="joy" type="joy_node" output="screen"/>
  3. <include file="$(find pr2_gazebo)/launch/pr2_empty_world.launch"/>
  4. <include file="$(find pr2_teleop_general)/launch/pr2_teleop_general_joystick.launch"/>
  5.  
  6. </launch>`
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