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I ran into the same issue and ended up creating this script

takes as arguments the new .yaml file to append and the namespace (if there's no namespace, the simple rosparam load command is executed)

Example:

rosparam_append [path/to/your].yaml /[your_namespace]

you can use this script in your launch file following this answer

remember to give executable permissions to the script with:

chmod 755 rosparam_append

hope it helps

I ran into the same issue and ended up creating this script

script:

#!/bin/bash
# $0 is the script name, $1 id the first ARG, $2 is second...

if [ "$2" = "" ]
then
  echo "Usage: $0 <filename> <namespace>"
else
  dump_command="rosparam dump"
  load_command="rosparam load"

  FILE="$1"  
  NAMESPACE="$2"
  IS_NAMESPACE=$(rosparam list | /bin/egrep "$NAMESPACE")

  if [ -z "$IS_NAMESPACE" ];
  then
    echo "No previous Namespace found, simply loading new parameters"
    command="$load_command $FILE $NAMESPACE"
    eval $command
  else           

    #Dumps the current parameters in the server
    command="$dump_command dump_tmp.txt $NAMESPACE"
    eval $command

    #Temporarly loads the new parameters
    command="$load_command $FILE $NAMESPACE"
    eval $command

    #Dumps the new parameters
    command="$dump_command load_tmp.txt $NAMESPACE"
    eval $command

    #Appends both files
    cat dump_tmp.txt >> load_tmp.txt

    #Loads all the new parameters
    command="$load_command load_tmp.txt $NAMESPACE"
    eval $command

    #Remove temporary files
    rm load_tmp.txt
    rm dump_tmp.txt
  fi
fi

I called this script file "rosparam_append" and it takes as arguments the new .yaml file to append and the namespace (if there's no namespace, the simple rosparam load command is executed)

Example:

rosparam_append [path/to/your].yaml /[your_namespace]

you can use this script in your launch file following (from this answer

<node name    = "rosparam_append_node" 
      pkg     = "your-package-name"
      type    = "rosparam_append"
      args    = "$(find your-package-name)/path/to/your.yaml /your/namespace"/>

remember to give executable permissions to the script with:

chmod 755 rosparam_append

hope it helps