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I think I have the same problem right now. I am building a quadruped robot and I want to have the code independend from the actual names of the motors (they should only be mapped via the yaml and urdf).

I made a pretty hacky solution. My yaml looks like this:

param_tester:
ros__parameters:
    my_names: ["one", "two", "three"]
    my_nodes:
        one:
            id : 0
            init : 1500
        two:
            id : 1
            init : 1234
        three:
            id : 2
            init : 4321

And my code would then looks like this:

 this->declare_parameter("my_names")
 std::vector<std::string> n = this->get_parameter("my_names").as_string_array();

for(std::string &name : n) {
    this->declare_parameter("my_nodes." + name + ".id");
    this->declare_parameter("my_nodes." + name + ".init");
    int64_t id = this->get_parameter("my_nodes." + name + ".id").as_int();
    int64_t init = this->get_parameter("my_nodes." + name + ".init").as_int();
    RCLCPP_INFO(this->get_logger(), "Name: '%s'", name.c_str());
    RCLCPP_INFO(this->get_logger(), "id: %d", id);
    RCLCPP_INFO(this->get_logger(), "init: %d", init);
}

Is there any simpler/easier way to do this? I don't really like the repeating name thing, but it does work. This actually should have been an answer to the comment from Christian Rauch, but the comment was too long.

Edit: fixed the code.