Tests

Added desired heading and sailcmd callback #1952

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Run time

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Job	Run time
ament_flake8	2m 11s
colcon-test	4m 48s
ament_mypy	2m 44s
ament_xmllint	2m 11s
clang-tidy	12m 47s
ament_lint_cmake	2m 9s
	26m 50s