ROS2 Tests

fix CI to not depend on textual #51

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Run time

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Job	Run time
Test ROS2 iron	3m 53s
Test ROS2 rolling	3m 56s
Test ROS2 kilted	3m 59s
Test ROS2 jazzy	3m 46s
Test ROS2 humble	3m 47s
	19m 21s