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You can remap parameter just like topics, so for instance this works:

  <node pkg="robot_self_filter" type="self_filter" name="self_filter">
    <remap from="robot_description" to="robot_description_self_filter" />
  </node>

For ros_control, things might be a little more complicated as the remapping has to be performed for the node, which is the controller_manager that loads a joint_trajectory_controller.

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