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you can try the following:


  <arg name="map_file" default="$(find [package where your yaml file is])/mymap.yaml"/>

  <!-- Run the map server -->
  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />


I would strongly advise you to have a look at this tutorial that explains how to setup the navigation stack for a robot.

Also have a look at the xml tags allowed in launch files here.