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Here is how I was launching velocity smoother from my minimal.launch for the Teleop velocity smoother:

  <include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
    <arg name="node_name"             value="teleop_velocity_smoother"/>
    <arg name="nodelet_manager_name"  value="mobile_base_nodelet_manager"/>
    <arg name="config_file"           value="$(find yocs_velocity_smoother)/param/standalone.yaml"/>
    <arg name="raw_cmd_vel_topic"     value="velocity_smoother/raw_cmd_vel_teleop"/>
    <arg name="smooth_cmd_vel_topic"  value="cmd_vel_mux/input/teleop"/>
    <arg name="robot_cmd_vel_topic"   value="robot_cmd_vel"/>
    <arg name="odom_topic"            value="odom"/>
  </include>

Similarly here is an example for nav_velocity_smoother:

<include file="$(find yocs_velocity_smoother)/launch/velocity_smoother.launch">
    <arg name="node_name"             value="nav_velocity_smoother"/>
    <arg name="nodelet_manager_name"  value="mobile_base_nodelet_manager"/>
    <arg name="config_file"           value="$(find yocs_velocity_smoother)/param/standalone.yaml"/>
    <arg name="raw_cmd_vel_topic"     value="velocity_smoother/raw_cmd_vel_nav"/>
    <arg name="smooth_cmd_vel_topic"  value="cmd_vel_mux/input/nav"/>
    <arg name="robot_cmd_vel_topic"   value="robot_cmd_vel"/>
    <arg name="odom_topic"            value="odom"/>
  </include>