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Quoted from the page you gave "Since Hydro the package is renamed to yocs_cmd_vel_mux".
The yaml file is inside yocs_cmd_vel_mux package. which is e.g. /opt/ros/indigo/share/yocs_cmd_vel_mux/param
To get there:
roscd
cd share
cd yocs_cmd_vel_mux
cd param
There you go: example.yaml reconfigure.yaml The files that are described in the official doc that you mentioned