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How are you planning to localize yourself in the map? If you aren't providing scan data then you can omit the AMCL node.

The default argument is going to be whatever the environment variable TURTLEBOT3_MODEL is set. If it is not set then you can set it in your bashrc file, export TURTLEBOT3_MODEL=burger from commandline prior to launch, or when you launch this from the terminal you would put model:=burger after the *.launch file