ROS CI

feat: remove is_available's node mut-ref dependency, also remove the … #290

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Run time

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Job	Run time
docs_no_ros	1m 31s
tests_foxy	2m 37s
tests_galactic	2m 52s
minimal_workspace_iron	2m 49s
tests_humble	2m 52s
tests_iron	2m 53s
	15m 34s