How to get robot description (i.e. string containing URDF) from the robot state publisher node in ROS 2 Python.

get_robot_description.py

from rclpy.node import Node
from rcl_interfaces.srv import GetParameters

class MyNode(Node):
  
    def get_robot_description(self) -> str:
        client = self.create_client(
            GetParameters, "robot_state_publisher/get_parameters"
        )
        while not client.wait_for_service(timeout_sec=1.0):
            pass
        request = GetParameters.Request()
        request.names = ["robot_description"]
        future = client.call_async(request)
        rclpy.spin_until_future_complete(self, future)
        result = future.result()
        return result.values[0].string_value