Solved bug with incompatible QoS policies (second try) #546

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Run time

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Job	Run time
Lint	2m 35s
Test (ROS noetic, Boost Asio)	2m 37s
Test (ROS melodic)	2m 29s
Test (ROS humble, Boost Asio)	3m 8s
Test (ROS noetic)	2m 26s
Test (ROS rolling, Boost Asio)	3m 7s
Test (ROS galactic)	3m 6s
Test (ROS humble)	2m 50s
Test (ROS iron)	2m 52s
Test (ROS rolling)	2m 39s
	27m 49s