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  1. <launch>
  2.   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  3.   <arg name="multi_robot_name" default=""/>
  4.   <param name="tb3_model" value="$(arg model)"/>
  5.  
  6.   <include file="$(find turtlebot3_gazebo)/launch/turtlebot3_empty_world.launch">
  7.     <arg name="model" value="$(arg model)" />
  8.   </include>
  9.  
  10.   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
  11.     <param name="publish_frequency" type="double" value="50.0" />
  12.   </node>
  13.  
  14.  
  15.   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot3_fake)/rviz/turtlebot3_fake.rviz"/>
  16.  
  17.   <node pkg="3002_lab2" type="lab2_node.py" name="lab2_node"  output="screen">
  18.   </node>
  19.  
  20. </launch>
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