Merge pull request #849 from MirkoFerrati/mirko/core22_snap #882

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Run time

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Job	Run time
industrial_ci (foxy, main)	10m 56s
industrial_ci (galactic, main)	12m 18s
industrial_ci (humble, main)	11m 42s
industrial_ci (rolling, main)	11m 40s
	46m 36s