I am trying to put identified offsets to the nominal URDF-values of my industrial robot. Since I do not want to modify the support package of my robot, I thought a good way to insert the identified rotary and translation offsets would be to change the robot_description on the parameter server. Is there a more elegant way to fulfill my goal, or do I really have to modify the string from the robot_description parameter? Is it even possible or advisable to change values of the robot description at runtime?