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The repository shows that the file you are (probably) looking for is at a different path: you are missing a gmapping/ string in the include. So, in your a1.launch file you should change the line you have to:

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

Instead of going to the repository online you could also use roscd turtlebot_navigation and find the path to the file you wish to include from your local filesystem.

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