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Preliminary Resolution for #425 update low level control node #1398

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Run time

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Job	Run time
ament_lint_cmake	2m 30s
clang-tidy	12m 34s
colcon-test	4m 41s
ament_flake8	2m 36s
ament_mypy	2m 40s
ament_xmllint	2m 25s
	27m 26s