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[loopback_sim] Publish clock, [nav2_costmap_2d] Fix Qos #1308

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Run time

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Job	Run time
ament_xmllint	1m 27s
ament_cpplint	1m 25s
ament_uncrustify	1m 53s
ament_pep257	1m 17s
ament_flake8	54s
	6m 56s