Use rosparam inside launch file as an arg being passed to a launch file

edit

I am wondering if there is a way to load a rosparam from the param server, and use it as an arg to an included launch file. I am trying to get around defining a variable in the config.yaml file and as an arg inside a launch file. In my config.yaml I have the following:

ROBOT_1_INITIAL_POSITION_X:   2.0
ROBOT_1_INITIAL_POSITION_Y:   0.5
ROBOT_1_INITIAL_POSITION_YAW: 0.0

I would then like to substitute these params in a launch file instead of the following (initial_position_x, initial_position_y, initial_position_yaw):

<launch>

  <arg name="laser_enabled" default="true"/>
  <arg name="kinect_enabled" default="false"/>

  <arg name="robot_1_namespace" default="/OFFSET_1"/>
  <arg name="robot_1_initial_position_x" default="2.0"/>
  <arg name="robot_1_initial_position_y" default="0.5"/>
  <arg name="robot_1_initial_position_yaw" default="0.0"/>

  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
    <arg name="laser_enabled" value="$(arg laser_enabled)"/>
    <arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
    <arg name="robot_namespace" value="$(arg robot_1_namespace)"/>
    <arg name="initial_position_x" value="$(arg robot_1_initial_position_x)"/>
    <arg name="initial_position_y" value="$(arg robot_1_initial_position_y)"/>
    <arg name="initial_position_yaw" value="$(arg robot_1_initial_position_yaw)"/>   
  </include>

</launch>

For reference, spawn_husky.launch uses the initial position when spawning the gazebo model:

<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
    args="-x $(arg initial_position_x)
          -y $(arg initial_position_y)
          -Y $(arg initial_position_yaw)
          -unpause
          -urdf
          -param robot_description
          -model $(arg robot_namespace)" />