fix: pass robot description as a parameter

orbbec_description/launch/launch_utils.py

@@ -12,22 +12,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
 import xacro
-import tempfile
+
 
 def to_urdf(xacro_path, parameters=None):
-    """Convert the given xacro file to URDF file.
+    """Convert the given xacro file to a URDF string.
     * xacro_path -- the path to the xacro file
     * parameters -- to be used when xacro file is parsed.
     """
-    with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
-        urdf_path = xacro_file.name
-
-    # open and process file
     doc = xacro.process_file(xacro_path, mappings=parameters)
-    # open the output file
-    with open(urdf_path, 'w') as urdf_file:
-        urdf_file.write(doc.toprettyxml(indent='  '))
-
-    return urdf_path
+    return doc.toprettyxml(indent='  ')