my_robot_configuration.launch (filling up the - pkg, type, name, and param specifications)

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hello, My objective is to navigate a P3AT robot spawned in the usarsim environment for this i have made a my_robot_cofiguration.launch file as instructed in the RobotSetup tutorial for navigation in section 3.2, but when it comes to filling up to the package name, type, node name, and params, i am unbale to fill them because i don't know the package name, type, node name, params.

Are there any predefined package in ROS which can be used here to fill up the values in the launch file???.

<launch>
  <node pkg="sensor_node_pkg" type="sensor_node_type" name="sensor_node_name" output="screen">
    <param name="sensor_param" value="param_value" />
  </node>

  <node pkg="odom_node_pkg" type="odom_node_type" name="odom_node" output="screen">
    <param name="odom_param" value="param_value" />
  </node>

  <node pkg="transform_configuration_pkg" type="transform_configuration_type" name="transform_configuration_name" output="screen">
    <param name="transform_configuration_param" value="param_value" />
  </node>
</launch>