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Just stumbled upon this questions..

I would go for launch file arguments (

    <arg name="args" default="1 0 0 0 0 0 1 link1_parent link1 100"/>
    <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="$(arg args)"/>

Maybe you should use one argument per parameter.

If you really want to use parameters, you can use this hackish solution that uses bash to append the arguments read by rosparam:

    <param name="myargs" value="1 0 0 0 0 0 1 link1_parent link1 100"/> <!-- or elsewhere -->
    <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" launch-prefix="/bin/bash -c '$* `rosparam get myargs`' --"/>