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The second error is occurring because your robot.yaml is YAML and not XML, which is what roslaunch will parse when running.

The first error appears to be referring to the file robot.yaml at the location: /opt/ros/electric/stacks/nxt/learning_nxt/robot.yaml

Is that in fact where you're robot.yaml is located in the file hierarchy? That is where roslaunch is looking for it.

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