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<?xml version="1.0" ?>
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="true"/>
<arg name="world_name" default="$(find velo2cam_gazebo)/worlds/vlp16/noise/"/> <!-- Note: if relative path used, the 'world_name' is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<!-- Start gazebo and load the world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch" >
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="$(arg headless)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="world_name" value="$(arg world_name)"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
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