Integration tests

Enable force mode compatibility with various move types #120

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Run time

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Job	Run time
rosdoc_lite_check	56s
check_links	51s
build (3.14.3-ur5)	11m 53s
build (5.9.4-ur5e)	12m 13s
build (latest-ur20)	11m 40s
	37m 33s