diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver
index b117cbc..4217b4e 100755
--- a/stretch_core/nodes/stretch_driver
+++ b/stretch_core/nodes/stretch_driver
@@ -1252,7 +1252,6 @@ class StretchBodyNode:
 
         rospy.loginfo("{0} started".format(self.node_name))
 
-        filename = rospy.get_param('~controller_calibration_file')
         mode = rospy.get_param('~mode', "position")
         rospy.loginfo('mode = ' + str(mode))
 
@@ -1263,46 +1262,46 @@ class StretchBodyNode:
         
         large_ang = 45.0 * np.pi/180.0
         
+        filename = rospy.get_param('~controller_calibration_file')
         rospy.loginfo('Loading controller calibration parameters for the head from YAML file named {0}'.format(filename))
-        fid = open(filename, 'r')
-        controller_parameters = yaml.load(fid)
-        fid.close()
-
-        rospy.loginfo('controller parameters loaded = {0}'.format(controller_parameters))
-        
-        deg_per_rad = 180.0/math.pi
-        self.head_tilt_calibrated_offset_rad = controller_parameters['tilt_angle_offset']
-        ang = self.head_tilt_calibrated_offset_rad
-        if (abs(ang) > large_ang):
-            rospy.loginfo('WARNING: self.head_tilt_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
-        rospy.loginfo('self.head_tilt_calibrated_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_offset_rad * deg_per_rad))
-
-        self.head_pan_calibrated_offset_rad = controller_parameters['pan_angle_offset']
-        ang = self.head_pan_calibrated_offset_rad
-        if (abs(ang) > large_ang):
-            rospy.loginfo('WARNING: self.head_pan_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
-        rospy.loginfo('self.head_pan_calibrated_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_offset_rad * deg_per_rad))
-
-        self.head_pan_calibrated_looked_left_offset_rad = controller_parameters['pan_looked_left_offset']
-        ang = self.head_pan_calibrated_looked_left_offset_rad
-        if (abs(ang) > large_ang):
-            rospy.loginfo('WARNING: self.head_pan_calibrated_looked_left_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
-        rospy.loginfo('self.head_pan_calibrated_looked_left_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_looked_left_offset_rad * deg_per_rad))
-
-        self.head_tilt_backlash_transition_angle_rad = controller_parameters['tilt_angle_backlash_transition']
-        rospy.loginfo('self.head_tilt_backlash_transition_angle_rad in degrees = {0}'.format(self.head_tilt_backlash_transition_angle_rad * deg_per_rad))
-        
-        self.head_tilt_calibrated_looking_up_offset_rad = controller_parameters['tilt_looking_up_offset']
-        ang = self.head_tilt_calibrated_looking_up_offset_rad
-        if (abs(ang) > large_ang):
-            rospy.loginfo('WARNING: self.head_tilt_calibrated_looking_up_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
-        rospy.loginfo('self.head_tilt_calibrated_looking_up_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_looking_up_offset_rad * deg_per_rad))
-
-        self.wrist_extension_calibrated_retracted_offset_m = controller_parameters['arm_retracted_offset']
-        m = self.wrist_extension_calibrated_retracted_offset_m
-        if (abs(m) > 0.05):
-            rospy.loginfo('WARNING: self.wrist_extension_calibrated_retracted_offset_m HAS AN UNUSUALLY LARGE MAGNITUDE')
-        rospy.loginfo('self.wrist_extension_calibrated_retracted_offset_m in meters = {0}'.format(self.wrist_extension_calibrated_retracted_offset_m))
+        with open(filename, 'r') as fid:
+            controller_parameters = yaml.safe_load(fid)
+
+            rospy.loginfo('controller parameters loaded = {0}'.format(controller_parameters))
+
+            deg_per_rad = 180.0/math.pi
+            self.head_tilt_calibrated_offset_rad = controller_parameters['tilt_angle_offset']
+            ang = self.head_tilt_calibrated_offset_rad
+            if (abs(ang) > large_ang):
+                rospy.loginfo('WARNING: self.head_tilt_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
+            rospy.loginfo('self.head_tilt_calibrated_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_offset_rad * deg_per_rad))
+
+            self.head_pan_calibrated_offset_rad = controller_parameters['pan_angle_offset']
+            ang = self.head_pan_calibrated_offset_rad
+            if (abs(ang) > large_ang):
+                rospy.loginfo('WARNING: self.head_pan_calibrated_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
+            rospy.loginfo('self.head_pan_calibrated_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_offset_rad * deg_per_rad))
+
+            self.head_pan_calibrated_looked_left_offset_rad = controller_parameters['pan_looked_left_offset']
+            ang = self.head_pan_calibrated_looked_left_offset_rad
+            if (abs(ang) > large_ang):
+                rospy.loginfo('WARNING: self.head_pan_calibrated_looked_left_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
+            rospy.loginfo('self.head_pan_calibrated_looked_left_offset_rad in degrees = {0}'.format(self.head_pan_calibrated_looked_left_offset_rad * deg_per_rad))
+
+            self.head_tilt_backlash_transition_angle_rad = controller_parameters['tilt_angle_backlash_transition']
+            rospy.loginfo('self.head_tilt_backlash_transition_angle_rad in degrees = {0}'.format(self.head_tilt_backlash_transition_angle_rad * deg_per_rad))
+
+            self.head_tilt_calibrated_looking_up_offset_rad = controller_parameters['tilt_looking_up_offset']
+            ang = self.head_tilt_calibrated_looking_up_offset_rad
+            if (abs(ang) > large_ang):
+                rospy.loginfo('WARNING: self.head_tilt_calibrated_looking_up_offset_rad HAS AN UNUSUALLY LARGE MAGNITUDE')
+            rospy.loginfo('self.head_tilt_calibrated_looking_up_offset_rad in degrees = {0}'.format(self.head_tilt_calibrated_looking_up_offset_rad * deg_per_rad))
+
+            self.wrist_extension_calibrated_retracted_offset_m = controller_parameters['arm_retracted_offset']
+            m = self.wrist_extension_calibrated_retracted_offset_m
+            if (abs(m) > 0.05):
+                rospy.loginfo('WARNING: self.wrist_extension_calibrated_retracted_offset_m HAS AN UNUSUALLY LARGE MAGNITUDE')
+            rospy.loginfo('self.wrist_extension_calibrated_retracted_offset_m in meters = {0}'.format(self.wrist_extension_calibrated_retracted_offset_m))
         
         self.linear_velocity_mps = 0.0 # m/s ROS SI standard for cmd_vel (REP 103)
         self.angular_velocity_radps = 0.0 # rad/s ROS SI standard for cmd_vel (REP 103)