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The build is much cleaner now and should have no problems with not detecting source file changes. The diff is a little crazy because of the deletions, so I recommend looking at the actual files.\r\n\r\nAdditionally, we can now optionally build a matrix of HERB models (including SRDFs) with different hand combinations:\r\n\r\n| LEFT  | RIGHT |\r\n|-------|-------|\r\n| BH280 | BH280 |\r\n| BH280 | None  |\r\n| None  | BH280 |\r\n| None  | None  |\r\n\r\nThe \"standard\" herb model output name is unchanged and so backwards compatible. We still need to add flags to the state-publisher to load the model we want to use, and then refactor herbpy to read from `/robot_description` and `/semantic_robot_description` when not in 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