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That error is coming from the code calling "declare_parameter" twice - has nothing to do with your configuration file. Most likely this is due to more than one component setting the same parameter without checking if the parameter is already set. I'd suggest filing a bug report on the navigation 2 repo.

It's worth noting that most of the parameters in navigation2 are wrapped in a directive that checks if the parameter is already been declared - but it looks like this one is not.