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Use test fixtures to create SROS artifacts (#522)
The current implementation creates SROS artifacts during the configure phase. This is undesirable for a variety of reasons, such as: * The ros2 binary is invoked during build, meaning that a regression in that tool will break the entire CI build instead of appearing as a test failure. * Some of the environment is captured during the artifact generation and it may not be the same when the tests are invoked. Namely, changes to ROS_DOMAIN_ID between build and test will break. The test fixtures work similarly to tests themselves, and are automatically run if any tests requiring them are enabled. If the fixture fails, the dependent tests are not attempted.
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