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FG-2933: Add CompressedAudio schema #487

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Run time

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Job	Run time
ROS noetic	1m 19s
build	39s
ROS foxy	3m 34s
python	50s
ROS galactic	2m 44s
ROS humble	3m 25s
ROS iron	3m 40s
ROS rolling	3m 49s
	20m 0s