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[WIP] Improve testability to explore velocity command generation for an Ackermann Steered Polaris #352

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Run time

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Job	Run time
ament_xmllint	45s
ament_cpplint	1m 8s
ament_uncrustify	46s
ament_pep257	42s
ament_flake8	48s
	4m 9s