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for c in config iterates over the keys of the config, not the values. I think you want:

host = rospy.get_param("~host", None)
sock = nxt.locator.find_one_brick(host)
b = sock.connect()

config = rospy.get_param("~"+ns)
components = []
for k, c in config.items():
    # do something with k - it might be useful
    rospy.loginfo("Creating %s with name %s on %s",c['type'],c['name'],c['port'])
    if c['type'] == 'motor':
        components.append(Motor(c, b))
    elif c['type'] == 'touch':
        components.append(TouchSensor(c, b))
    elif c['type'] == 'ultrasonic':
        components.append(UltraSonicSensor(c, b))
    elif c['type'] == 'color':
        components.append(ColorSensor(c, b))
    elif c['type'] == 'intensity':
        components.append(IntensitySensor(c, b))
    elif c['type'] == 'gyro':
        components.append(GyroSensor(c, b))
    elif c['type'] == 'accelerometer':
        components.append(AccelerometerSensor(c, b))
    else:
        rospy.logerr('Invalid sensor/actuator type %s'%c['type'])