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This is just a warning. As far as I can tell it should not have a practical impact on anything, but recent version of the yaml python package will print this warning to get folks to stop using the normal load command.

There's nothing you can change about this as far as the base ROS code is concerned, but also nothing you need to worry about. I'm sure at some point one of the core developers will get annoyed by the warnings enough to change the code that causes it.