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Multiple CI and README.md Improvements #367

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.3)	17m 35s
micro_ros_idf (esp32c3, v5.4)	16m 40s
micro_ros_idf (esp32s2, v5.4)	18m 14s
micro_ros_idf (esp32c6, v5.2)	15m 30s
micro_ros_idf (esp32s3, v5.4)	17m 40s
micro_ros_idf (esp32, v5.4)	17m 24s
micro_ros_idf (esp32s2, v5.3)	18m 31s
micro_ros_idf (esp32c3, v5.2)	15m 59s
micro_ros_idf (esp32s3, v5.3)	16m 56s
micro_ros_idf (esp32c6, v5.4)	17m 30s
micro_ros_idf (esp32s2, v5.2)	17m 57s
micro_ros_idf (esp32, v5.2)	16m 47s
micro_ros_idf (esp32c6, v5.3)	16m 47s
micro_ros_idf (esp32s3, v5.2)	17m 39s
micro_ros_idf (esp32c3, v5.3)	15m 13s
	4h 16m 22s