Fixed writing urdf file to package folder

[progtologist]

Fixes

Writing to package share folder which when installed in /opt fails without super user permission

Description of the changes:

• Removed generation of URDF file, instead the URDF is generated inline on the python file and fed to the nodes.

Required before submitting a Pull Request:

• [X] I reviewed CONTRIBUTING.md
• [X] I built my changes locally
• [X] I tested my changes with a device
• [ ] I changed both the ROS1 and ROS2 branches

I tested changes on:

• [ ] Windows
• [X] Linux
• [ ] ROS1
• [X] ROS2

Tested locally on my system

[ghost]

All CLA requirements met.