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Improve Error Reporting and Reduce Log Redundancy #647

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Run time

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Job	Run time
Lint	1m 19s
Lint	1m 19s
Test (ROS melodic)	2m 30s
Test (ROS melodic)	2m 30s
Test (ROS noetic, Boost Asio)	3m 2s
Test (ROS noetic, Boost Asio)	3m 2s
Test (ROS noetic)	2m 33s
Test (ROS noetic)	2m 33s
Test (ROS humble, Boost Asio)	3m 23s
Test (ROS humble, Boost Asio)	3m 23s
Test (ROS humble)	3m 9s
Test (ROS humble)	3m 9s
Test (ROS rolling, Boost Asio)	3m 15s
Test (ROS rolling, Boost Asio)	3m 15s
Test (ROS iron)	3m 11s
Test (ROS iron)	3m 11s
Test (ROS rolling)	3m 10s
Test (ROS rolling)	3m 7s
	51m 1s