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Fix `asset_uri_whitelist` regex backtracking issue, add more extensions #530

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Run time

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Job	Run time
Lint	3m 21s
Test (ROS melodic)	3m 41s
Test (ROS noetic, Boost Asio)	3m 9s
Test (ROS noetic)	3m 31s
Test (ROS humble, Boost Asio)	3m 24s
Test (ROS galactic)	3m 43s
Test (ROS rolling, Boost Asio)	3m 30s
Test (ROS humble)	5m 1s
Test (ROS iron)	4m 47s
Test (ROS rolling)	4m 16s
	38m 23s