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You don't need to edit the cfg files.

Instead, you can set the parameters in your launch file, and they will be read in when the program starts.

<node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
  <param name="angle_min" value="-1.5707963"/>
</node>

As much as possible, you shouldn't have to modify the original package for things like setting parameters.

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