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This appears to be either a bug in the launch file or a problem with your environment conflicting with the launch of this node. Before you launch the node, run rosparam list and see if a parameter called /lidar_kf_contour_track already exists in the global parameter server. If it does, that's where the errors are coming from (the launch file looks fine). Also make sure you aren't using the Autoware Runtime Manager at the same time as using launch files as these can cause conflicts. You must use one or the other.