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Fix `asset_uri_whitelist` regex backtracking issue, add more extensions #531

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Run time

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Job	Run time
Lint	4m 1s
Test (ROS noetic, Boost Asio)	3m 5s
Test (ROS melodic)	3m 35s
Test (ROS humble, Boost Asio)	3m 31s
Test (ROS noetic)	3m 3s
Test (ROS rolling, Boost Asio)	3m 28s
Test (ROS galactic)	3m 43s
Test (ROS humble)	4m 10s
Test (ROS iron)	4m 3s
Test (ROS rolling)	3m 17s
	35m 56s