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I got the launch file working this weekend. Dornhege pointed out the missing item this morning. When I wrote the question, I was assuming the "name="mux_cmdvel" item was redundant on the "mux:=mux_cmdvel". Apparently they don't do the same thing.
So, the real answer to my question is that placing all of the rosrun arguments in an "args=" item is proper formatting for a launch statement(which I wasn't sure of). I was just missing the mux:= part. Thanks