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FG-2933: Add CompressedAudio schema #480

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Run time

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Job	Run time
build	40s
python	12s
ROS noetic	1m 12s
ROS foxy	3m 26s
ROS galactic	2m 34s
ROS humble	3m 22s
ROS iron	3m 37s
ROS rolling	3m 53s
	18m 56s