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waterfield
Yes-I believe he has to be on the roster-according to the bargaining agreement. I don't think you can claim someone off waivers simply to fill your PS. I could be wrong about this.
I do believe you are correct. Waiver claims mean the player must be put on the active 53 roster AND the claiming team assumes the contract that player had at release.
Until a player has officially cleared the waiver process they are not a free agent. A free agent can be added to the Practice squad as long as they meet the requirements.
Practice squad rules
Players with an unlimited amount of experience: 6 players maximum.
Players with two or fewer accrued seasons: 10 players maximum.
Players with no accrued seasons or were active less than 9 games in one season: 16 players maximum.