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Metrics refactoring #2470

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Run time

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Job	Run time
Test (ubuntu-latest)	7m 20s
Bench (ubuntu-latest)	7m 8s
Test (macos-latest)	10m 42s
License Checks	55s
Bench (macos-latest)	13m 0s
Test (windows-latest)	18m 35s
Bench (windows-latest)	13m 7s
Clippy	2m 15s
ROS2 Bridge Examples	11m 25s
Formatting	13s
Examples (ubuntu-latest)	17m 49s
Examples (macos-latest)	23m 3s
Examples (windows-latest)	26m 4s
CLI Test (ubuntu-latest)	9m 30s
CLI Test (macos-latest)	23m 45s
CLI Test (windows-latest)	18m 26s
	3h 23m 17s