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Add raw publisher, convert Context to singleton (#76) #274

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Add raw publisher, convert Context to singleton (#76)

Add raw publisher, convert Context to singleton (#76) #274

Run time

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Job Run time
minimal_workspace_humble
2m 40s
tests_foxy
2m 44s
tests_humble
2m 51s
docs_no_ros
1m 36s
tests_galactic
2m 38s
12m 29s