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A way around my problem meanwhile is:
<arg name="ns" default="/" /> <!-- empty strings are not allowed for namespace ! -> "/" -->
<group ns="$(arg ns)">
<node pkg="robot_state_publisher" type="robot_state_publisher" output="screen"
name="robot_state_publisher">
<param name="robot_description" value="robot_description"/>
<param name="publish_frequency" value="30.0"/>
<param name="tf_prefix" value="$(arg ns)"/>
</node>
</group>
Unfortunatley this requires to have a group inside the launchfile. But the launchfile can be used with or without namespace.