Tests

Added desired heading and sailcmd callback #1951

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Run time

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Job	Run time
clang-tidy	13m 9s
colcon-test	4m 50s
ament_lint_cmake	2m 12s
ament_flake8	2m 14s
ament_xmllint	2m 10s
ament_mypy	2m 34s
	27m 9s