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If you just need to change parameters, I guess this could be achieved with roslaunch. While roslaunch doesn't guarantee the order in which nodes are started up, it processes machine declarations and parameters serially, before executing nodes.

This allows you to overwrite previous parameter definitions later inside the same launch file. More specifically, you could create a launch file and first include the original robot launch file. Later in the file, you could re-define some parameters. This should overwrite the original parameter settings before any node is started up.