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Is changing the robot URDF during runtime something is normally done?
the straight answer would be: no, it's not done, as it's not supported.
See #q197320 for an earlier Q&A about this. Even thought it's from 2014, the situation has essentially not changed.
See ROS 2 robot_state_publisher improvements for a recent, related discussion.
There are many more, both here on ROS Answers and on ROS Discourse.