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Unfortunately there is not such as direct conversion. However this sounds like a nice improvement.
The get function is defined in rosparam.h.
If you add the missing overloading:
ROSCPP_DECL bool get(const std::string& key, ros::Duration& s);
...the templated get will automagically use it. This should even work if you define this function in your own C++ source file (considering you keep the same namespace). Hence, you can fork the project on GitHub, submit a pull request providing the additional getter. In the meanwhile (i.e. until a new version of roscomm is released), you can check the ROS version and provide the overloading yourself for older ROS versions.
As ROS relies on Boost.DateTime to store time-related values, I suggest you use the Boost.DateTime API in the get function to ensure a consistent parsing.
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