ROS2 Tests

more r2s_gw removal #105

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Run time

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Job	Run time
Test ROS2 jazzy	2m 54s
Test ROS2 iron	5m 0s
Test ROS2 humble	5m 27s
Test ROS2 kilted	2m 52s
Test ROS2 rolling	2m 54s
	19m 7s