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You need the full path to your map yaml file such as this:

declare_map_yaml_cmd = DeclareLaunchArgument(
    'map',
    default_value=os.path.join(bringup_dir, 'maps', 'YourMapHere.yaml'),
    description='Full path to map file to load')

In this case, the map location would be in the package sam_bot_description under the maps folder

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