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Not a complete answer, but you might want to try and see how Rethink Robotics did this for Baxter. IIRC, the different EEFs that can be connected (gripper, suction cups) to Baxter's arms dynamically update the urdf, without the user needing to reconfigure and / or restart anything.
We have one here in a lab, so I can try to take a look if you want (I'm rather curious myself).
What I can imagine right now is a node that just overwrites the robot_description parameter when needed (and causes the needed transforms to be published). This would obviously require some special logic in other nodes in your system working with the robot_description parameter, as normally I retrieve it once and assume it never changes.
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