The YAML Exception points to an error in the calibration file (the YAML Execptions are somtime not very descriptive, so you have to figure out "manually" what the problem actually is).
Either, this is misconfigured (missing tags, expecting different fields, even stupid whitespace errors are somtimes a problem) or the file is simply not there at all. This is what the Unable to open calibration file points to.
Keep in mind, that if you do a rosrun, the working directory is the directory where you execute this command. I.e. it is looking for 32db.yaml in the directory you are currently.