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With launch substitutions, you can build strings like this with tuples. Sure there's more elegant ways to create the tuple, but this works.

location_config = (get_package_share_directory('lrs_wdb'),
                   '/config/location_',
                   LaunchConfiguration('location'), '.yaml')

return LaunchDescription([
    Node(package='lrs_wdb',
         executable='wdb',
         parameters=[location_config]
    )
])

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