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Set explorer to match my robot

I have got the 3 package "adhoc_communication" "explorer" "map_merger"

I have a launch file to operate my robot;

the "odometer(robot)" is <pkg="ubot_middleware" type="ubot_middleware_node">

the "scanner(laser)" is <pkg="hokuyo_node" type="hokuyo_node">

How am I supposed to set the parameters of the explorer to work for my robot?