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You can run rostopic pub from within a launch file with:

<node pkg="rostopic" type="rostopic" name="rostopic" args="pub {pub args}"/>

where {pub args} are the arguments to rostopic pub to make it publish the way you want it to.

You may also want to change name="rostopic" to something specific to each robot, if there will be multiple copies of this running with the same ros master.

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