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Pepper simulation in ROS is a little tricky in general due to naoqi layer, not as a straightforward as Turtlebot3. If your goal is to do mapping with Pepper, I suggest to look at qibullet;

The last updated tutorial was for ROS Indigo: If you can try it ROS Indigo first, if runs successfully, then you can work your way at fixing the issues.

For your particular issue it looks there is an issue with the incompatibility of ROS messages used in different distributions. A suggestion try to run the nodes directly instead of using roslaunch. This will help you to better troubleshoot the error.