ravijo / minimal_publisher

This package demonstrates loading the URDF from the parameter in ROS 2

Minimal publisher examples

This package has been posted as a complete reponse to the following question: https://answers.ros.org/question/408470/is-there-a-way-to-load-urdf-from-parameter-in-ros2/?answer=408480#post-id-408480

Please look at the above link for more details.