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I don't think you can use $(arg namespace) in .yaml. You can try using remap and tf_remap.

I'm not familiar with tf_remap, so I apologize if I'm wrong about it.

It should be used in make_robot.launch as follows.

<node pkg="tf" type="tf_remap" name="tf_remapper">
  <rosparam param="mappings">
    [{old: /base_scan, new: /$(arg namespace)/base_scan}]
  </rosparam
</node>

<node pkg="move_base" type="move_base" name="move_base">
  <remap from="/scan" to="/$(arg namespace)/scan" />
  ...
</node>