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The rqt_plot command allows to pass topic names as arguments (run rqt_plot -h for detailed command usage). You can combine this with the --args attribute of the <node> element in roslaunch:

<launch>
  <node name="pos_vel_plot"
        pkg="rqt_plot"
        type="rqt_plot"
        args="/joint_states/position[0] /joint_states/position[1]" />
</launch>

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