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Modifies the use of slots for get_fields_and_field_types method #777

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Run time

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Job	Run time
lint	23s
ROS 2 humble (ubuntu-22.04)	6m 3s
ROS 2 iron (ubuntu-22.04)	6m 35s
ROS 2 rolling (ubuntu-22.04)	8m 8s
	21m 9s