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<launch>
<arg name="file" default="turtlebot.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_xtion_top_description)/urdf/$(arg file)'" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find turtlebot_xtion_top_description)/launch/test.vcg" output="screen" />
</launch>
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