Tests

User/adambrett40/534 handle can errors #1956

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Run time

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Job	Run time
colcon-test	4m 52s
ament_flake8	2m 24s
ament_lint_cmake	2m 27s
clang-tidy	13m 16s
ament_xmllint	2m 23s
ament_mypy	2m 36s
	27m 58s