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I think the best way is to set those parameter directly from the launch file instead of loading the yaml. If want to keep it separated make a params.launch from params.yaml and include that.

I think the best way is to set those parameter directly from the launch file instead of loading the yaml. If want to keep it separated make a params.launch from params.yaml and include that.

The way to specific package relative paths would be to use: package://ocu/bla syntax, but afaik the node needs to support that, i.e. call the proper ROS api functions.

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