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The middle part of your question is not in code format, so it is a bit difficult for others to read and debug your launch file. It is better if you can modify it. Besides, it is better if you can upload the result of running your launch file.

You have multiple nodes in this launch file, so firstly, you need to find out which node makes it crash.

1. Launching each node separately with your currently parameters. Luckily, you can directly find out the node crashed using this method.

2. If you launch each node separately, it works fine, but when you launch them together, they crashed, most probably, the code caused crash is inside callback functions. You can use rostopic pub to find out the problematic node.

3. After finding out the node causing crash, using gdb to debug that node. The details of using gdb with launch file for debugging can be find here.