Tests

added voyage descriptions from file #1317

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Run time

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Job	Run time
clang-tidy	11m 52s
colcon-test	4m 13s
ament_lint_cmake	1m 54s
ament_flake8	1m 49s
ament_mypy	2m 3s
ament_xmllint	1m 51s
	23m 42s