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Enable TFListener to get Authority#545

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sloretz wants to merge 2 commits intorollingros2/geometry2:rollingfrom sloretz__authorityros2/geometry2:sloretz__authorityCopy head branch name to clipboard

+174-6

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Commits on Jul 25, 2022

• Add test checking for authority present in tf_listener

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• Enable TFListener to get authority string

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