Launch file error

edit

Hello, I modified other's launch file to add my own parameters in the code. First is the new launch file

<?xml version="1.0"?>
<launch>
<arg name="uri" default="radio://0/80/250K" />
<arg name="frame" default="/crazyflie" />
<arg name="joy_dev" default="/dev/input/js0" />
<arg name="x" default="3" />
<arg name="y" default="0" />
<arg name="z" default="0" />
<arg name="x2" default="0.9" />
<include file="$(find crazyflie_driver)/launch/crazyflie_server.launch">
</include>

<group ns="crazyflie">
<include file="$(find crazyflie_driver)/launch/crazyflie_add.launch">
  <arg name="uri" value="$(arg uri)" />
  <arg name="tf_prefix" value="crazyflie" />
  <arg name="enable_logging" value="True" />
</include>
<node name="joy" pkg="joy" type="joy_node" output="screen">
  <param name="dev" value="$(arg joy_dev)" />
</node>

<node name="joystick_controller" pkg="crazyflie_demo" type="controller.py" output="screen">
  <param name="use_crazyflie_controller" value="True" />
</node>

<include file="$(find crazyflie_controller)/launch/crazyflie2.launch">
  <arg name="frame" value="$(arg frame)" />
  <param name="x2"    value="$(arg x2)" />
</include>

<node name="pose" pkg="crazyflie_demo" type="publish_pose.py" output="scree$
  <param name="name" value="goal" />
  <param name="rate" value="30" />
  <param name="x" value="$(arg x)" />
  <param name="y" value="$(arg y)" />
  <param name="z" value="$(arg z)" />
</node>
<node pkg="tf" type="static_transform_publisher" name="baselink_broadcaster" args="0 0 0 0 0 0 1 $(arg frame) /crazyflie/base_link 100" />
</group>

<!-- run vicon bridge -->
<include file="$(find mocap_optitrack)/launch/mocap.launch"/>

<!-- run rviz -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find crazyflie_description)/urdf/crazyflie.urdf.xacro" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find crazyflie_demo)/launch/crazyflie_pos.rviz" required="true" />

</launch>

And the error

Invalid roslaunch XML syntax: not well-formed (invalid token): line 35, column 6 The traceback for the exception was written to the log file

Line 35, is<param name="name" value="goal" /> The launch I modified is all the parts related to "x2", the new parameter I need in the modified code. So I don't think it is the "line 35 column 6" which I didn't change cause the error. Does anyone have any idea how to solve this? Thanks!