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The file parameter to rosparam needs an absolute file name (technically it's relative to the working directory for roslaunch, but you shouldn't count on that).

You can give the file parameter an absolute path by using the $(find pkg) substitution to start with the absolute path to a package, and then use the path of the file within that package.

Since you're looking for the config/costmap_common_params.yaml file within the azimut3 package, you can refer to that file relative to the azimut3 package:

<rosparam command="load" file="$(find azimut3)/config/costmap_common_params.yaml" ns="global_costmap"/>

The file parameter to rosparam needs an absolute file name (technically it's relative to the working directory for roslaunch, but you shouldn't count on that).

You can give the file parameter an absolute path by using the $(find pkg) substitution to start with the absolute path to a package, and then use the path of the file within that package.

Since you're looking for the config/costmap_common_params.yaml file within the azimut3 package, you can refer to that file relative to the azimut3 package:

<rosparam command="load" file="$(find azimut3)/config/costmap_common_params.yaml" ns="global_costmap"/>

for more substitutions and examples, have a look at the roslaunch XML syntax documentation