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I'm late to the game, but an alternative way to add a robot_description to the parameter server is through the command line

rosparam load my_robot.urdf robot_description

According to the wiki, the syntax

rosparam load <yaml-file> [namespace]

is for a yaml file, but this works just as well with a urdf file. The wiki does have a warning though

NOTE: this will add to the currently set values.

I tried loading it twice to see if I would get the two descriptions loaded under one parameter and I didn't.