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<launch>
<arg name="debug" default="false" />
<arg unless="$(arg debug)" name="launch_prefix" value="" />
<arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
<arg name="rviz_tutorial" default="false" />
<arg unless="$(arg rviz_tutorial)" name="command_args" value="-d $(find moveit_resources)/panda_moveit_config/launch/moveit.rviz" />
<arg if="$(arg rviz_tutorial)" name="command_args" value="-d $(find moveit_resources)/panda_moveit_config/launch/moveit_empty.rviz" />
<node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
args="$(arg command_args)" output="screen">
<rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
</node>
</launch>
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