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I was looking at robotsetup tutorial. ( http://wiki.ros.org/navigation/Tutorials/RobotSetup). In section 2.2 Creating a Robot Configuration Launch File in which i have to Replace "sensor_node_pkg" with the name of the package for the ROS driver for your sensor, "sensor_node_type" with the type of the driver for your sensor, "sensor_node_name" with the desired name for your sensor node, and "sensor_param" with any parameters that your node might take. and also replace all things for odometry and tf.
I don get what are these values?