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The Pentagon said North Korea fired the missile at 6.42am local time and that it landed in the Sea of Japan nine minutes later. It said the rocket, which is believed to be a medium-range missile that could not reach the US, was fired from a land-based facility near Sinpo.
The missile launch comes just three days before US President Donald Trump hosts Chinese President Xi Jinping at his Mar-a-Lago resort for what will be their first meeting. North Korea is expected to be one of the top issues on the agenda when the two leaders meet.
The Financial Times on Sunday reported that Mr Trump plans to urge China to put more pressure on Pyongyang to convince the regime to abandon its nuclear programme.
In an interview with the FT, Mr Trump said: “China has great influence over North Korea. And China will either decide to help us with North Korea, or they won’t. If they do, that will be very good for China, and if they don’t, it won’t be good for anyone.”
But Mr Trump made clear that the US was prepared to act alone if China did not do more to tackle the threat from Pyongyang and Kim Jong Un, the North Korean dictator. “Well if China is not going to solve North Korea, we will. That is all I am telling you,” he said.