Improve compile time #105

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Run time

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Job	Run time
ROS noetic - GCC 8 - C++11	2m 19s
ROS noetic - GCC 8 - C++11	2m 19s
ROS noetic - GCC 8 - C++14	1m 55s
ROS noetic - GCC 8 - C++14	1m 55s
ROS noetic - GCC 8 - C++17	2m 6s
ROS noetic - GCC 8 - C++17	2m 6s
ROS noetic - GCC 9 - C++11	1m 59s
ROS noetic - GCC 9 - C++11	1m 59s
ROS noetic - GCC 9 - C++14	1m 59s
ROS noetic - GCC 9 - C++14	1m 59s
ROS noetic - GCC 9 - C++17	2m 41s
ROS noetic - GCC 9 - C++17	2m 41s
ROS noetic - GCC 10 - C++11	2m 4s
ROS noetic - GCC 10 - C++11	2m 4s
ROS noetic - GCC 10 - C++14	2m 5s
ROS noetic - GCC 10 - C++14	2m 5s
ROS noetic - GCC 10 - C++17	2m 15s
ROS noetic - GCC 10 - C++17	2m 15s
ROS noetic - GCC 11 - C++11	2m 17s
ROS noetic - GCC 11 - C++11	2m 17s
ROS noetic - GCC 11 - C++14	25m 14s
ROS noetic - GCC 11 - C++14	2m 18s
ROS noetic - GCC 11 - C++17	2m 30s
ROS noetic - GCC 11 - C++17	2m 30s
	1h 15m 52s