California appears to be phasing out that requirement (ability to swap the pack), which is why battery swap stations are no longer being pursued aggressively.
http://articles.latimes.com/2013/may/05/business/la-fi-elect...
http://gas2.org/2014/07/02/ev-battery-swap-stations-may-be-a...
It had to be planned. I don't think it was feasible in the roadster because of the battery placement. But the model S has a nice flat battery on the bottom of the car, making for great weight distribution and easy access. I haven't seen any news of any actual swap stations though.
Also, I don't think that battery lifetimes can be stated with such certainty yet. Few electric cars have been running long enough to know just how the batteries age with that usage. About the closest available is the fleet of older Priuses that are hitting a decade or more on the road, and they seem to have occasional failures but not the consistent aging that's been predicted... but of course they use the battery completely differently, and capacity is less important.
It may not be practical to do at home but Tesla has already demonstrated automatic battery swapping on their Model S. They've timed it at twice as fast as filling up a comparable luxury gas car:
https://www.youtube.com/watch?v=H5V0vL3nnHY