[CM] Use robot_description topic instead of parameter and don't crash on empty URDF 🦿 (backport #940)
#810
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The following actions uses node12 which is deprecated and will be forced to run on node16: ros-tooling/setup-ros@v0.2, ros-tooling/action-ros-lint@v0.1. For more info: https://github.blog/changelog/2023-06-13-github-actions-all-actions-will-run-on-node16-instead-of-node12-by-default/
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