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Did you source your baxter.sh file before trying to get the rosparam? The baxter.sh file configures your shell to talk to the ROS Master running on the Baxter robot. If the software_version parameter was set in the Parameter Server running on the Baxter's ROS Master, then you won't be able to access if it if you aren't connected.
You can also try emailing the brr-users list for Baxter-specific questions, or searching their Google Groups page:
https://groups.google.com/a/rethinkrobotics.com/forum/?utm_medium=landing+page&utm_source=Act-On+Software&utm_content=landing+page&utm_campaign=&utm_term=Research%20Forum#!forum/brr-users
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