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From the tutorials page : "Ok.. so now we have a template for a launch file, but we need to fill it in for our specific robot. We'll walk through the changes that need to be made in each section below."
The tutorial is showing you a generic lesson and it is expected that you will be supplying the specific details where necessary if you have a robot that differs. The launch file is being used to launch the nodes used to publish the data. You have these nodes already and should simply fill the appropriate details into the launch file.
http://wiki.ros.org/navigation/Tutorials/RobotSetup#Creating_a_Robot_Configuration_Launch_File
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