API changes to support robot description #327

Job	Run time
binary (iron, main) / iron main	4m 30s
binary (jazzy, main) / jazzy main	4m 20s
binary (jazzy, testing) / jazzy testing	4m 31s
binary (iron, testing) / iron testing	4m 42s
binary (rolling, main) / rolling main	4m 15s
binary (rolling, testing) / rolling testing	4m 21s
	26m 39s

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