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Is this all you want to know? For example,

move_base.launch.xml

<launch>
  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

  <arg name="odom_topic" default="odom" />
  <arg name="map_topic" default="/map" />
  <arg name="scan_topic" default="/base_scan" />

 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner" /> 
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/eband_planner_params.yaml" command="load" />
    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" /> 
    <param name="global_costmap/map_topic" value="$(arg map_topic)" />
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
  </node>
</launch>