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You are right, type="<EXECUTABLE>".

The robot_state_publisher is defined in the robot_state_publisher package (not robot_state, this is just a name for the node). However, if you install executables from apt-get (or build them yourself), they don't end up in the package, but in /opt/ros/<DISTRO>/lib/<PACKAGE>/<EXECUTABLE> (or <CATKIN_WS>/../devel/lib/<PACKAGE>/<EXECUTABLE> if you compile it yourself).

However, nodes need to be implemented in a special way. Check out this tutorial for a simple example. Make sure to read the in-source comments.