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When you load the parameters inside the node, the name of the parameter on the parameter-server will be for example laser_front/port, but the node needs port

You can load the parameters outside of the node tags.

<arg name="robot" default="cob3-6"/>
<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
<arg name="name" default="front"/>

<rosparam command="load" file="$(arg pkg_hardware_config)/$(arg robot)/config/laser_$(arg name).yaml"/>

<!-- start laser driver -->
<node name="laser_$(arg name)" pkg="cob_sick_s300" type="cob_sick_s300" respawn="false" output="screen" />