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Use this launch file:

 <launch>
   <!-- start gazebo with an empty plane -->
   <param name="/use_sim_time" value="true" />

   <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/wg.world" respawn="false" output="screen"/>


   <include file="$(find turtlebot_gazebo)/launch/robot.launch"/>
 </launch>

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