Fix `asset_uri_whitelist` regex backtracking issue, add more extensions #532

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Run time

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Job	Run time
Lint	3m 20s
Lint	3m 20s
Test (ROS melodic)	4m 12s
Test (ROS melodic)	4m 12s
Test (ROS noetic, Boost Asio)	3m 41s
Test (ROS noetic, Boost Asio)	3m 41s
Test (ROS noetic)	4m 32s
Test (ROS noetic)	4m 32s
Test (ROS humble, Boost Asio)	4m 9s
Test (ROS humble, Boost Asio)	4m 9s
Test (ROS galactic)	4m 7s
Test (ROS galactic)	4m 18s
Test (ROS rolling, Boost Asio)	4m 6s
Test (ROS rolling, Boost Asio)	4m 6s
Test (ROS humble)	4m 23s
Test (ROS humble)	4m 23s
Test (ROS iron)	3m 36s
Test (ROS iron)	4m 49s
Test (ROS rolling)	4m 40s
Test (ROS rolling)	4m 40s
	1h 22m 56s