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That launch file is deprecated (as of 4 years ago! the navigation stack is now version 1.11, and that file was introduced when transitioning from 0.2 to 0.3)

Most people create a configuration for their specific robot, since there are a lot of parameters that can be tuned and tweaked for a specific robot. For a number of examples see: http://wiki.ros.org/navigation/RobotsUsingNavStack

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