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There are several. The modern disposable anti-tank rocket traces its roots to the German Panzerfaust of Second World War vintage (which was also the jumping off point for the development of the RPG-2 and later RPG-7). The M72 Light Antitank Weapon (LAW) is still in use, and this was also copied by the Soviets and put into production as the RPG-22, but if you're referring to the one currently used by both the US Military and several other forces around the world, you would be thinking of the Swedish AT-4 rocket.

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Q: What is the name of the rocket launcher which is disposable?
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