Tests

can manual mode ros parameter #2054

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Run time

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Job	Run time
clang-tidy	13m 6s
colcon-test	6m 15s
ament_mypy	2m 50s
ament_xmllint	2m 41s
ament_lint_cmake	2m 11s
ament_flake8	2m 34s
	29m 37s