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[CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (backport #940) #206

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[CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (backport #940)

[CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (backport #940) #206

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