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I'm not sure about that but I think you can't use the "~" to define your home directory in a launch file. You could try something like:

<launch>
    <node name="teste_aruco" pkg="teste_aruco" type="ros_aruco2" args="live $(find ros_aruco)/data/logitech_9000_intrinsics.yml 0.127" />
</launch>

or use the full path to the .yml file.