The Urban Dictionary has 156 entries for 'rawr', including two acronyms and one phrase, 'Rawr rawr rawr'.
One entry, posted by Faust is robby on April 19, 2008, is 'A word that means "I love you" in dinosaur. See the links below for more information.
However, we have no real way of knowing how dinosaurs communicated, or what kind of sounds they might have made. So, if you are working on a dinosaur-based game or story, feel free to have 'rawr' mean absolutely anything you like. You can make up an entire dinosaur vocabulary and body-language guide, and nobody can say whether you're right or wrong, because they simply don't know.
For ideas, you could observe modern birds and reptiles, both distantly related to the dinosaurs.
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