This topic was recently raised in a project I frequent, and although I thought the answer was relatively simple, asking it at ROS Answers has turned up aspects I hadn’t considered. In the interest of broadening the range of opinions, I thought I would raise it here, too.
Please discuss over at ROS Answers rather than here, unless Tully is happy with this turning into worse cross-posting than it already is. 
https://answers.ros.org/question/342777/is-it-correct-to-set-topic-names-from-parameters/