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Support ROS 2 service in CI #1385

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Run time

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Job	Run time
System tests with ROS 2 Humble	6m 38s
System tests with ROS 2 Humble	6m 38s
System tests with ROS 2 Jazzy	5h 39m 0s
System tests with ROS 2 Jazzy	6h 0m 4s
Build on ubuntu-latest	8m 31s
Build on ubuntu-latest	8m 31s
Build on macOS-latest	8m 59s
Build on macOS-latest	8m 59s
Build on windows-latest	22m 17s
Build on windows-latest	22m 17s
CI status checks	1s
CI status checks	1s
	13h 11m 56s