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Multiple CI and README.md Improvements #381

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.2)	15m 10s
micro_ros_idf (esp32s2, v5.3)	20m 25s
micro_ros_idf (esp32c3, v5.4)	16m 42s
micro_ros_idf (esp32s2, v5.2)	17m 42s
micro_ros_idf (esp32c6, v5.2)	15m 54s
micro_ros_idf (esp32c3, v5.3)	13m 46s
micro_ros_idf (esp32, v5.4)	17m 5s
micro_ros_idf (esp32s3, v5.2)	15m 28s
micro_ros_idf (esp32s2, v5.4)	17m 45s
micro_ros_idf (esp32, v5.3)	16m 51s
micro_ros_idf (esp32s3, v5.4)	16m 7s
micro_ros_idf (esp32c6, v5.3)	15m 39s
micro_ros_idf (esp32c6, v5.4)	17m 33s
micro_ros_idf (esp32c3, v5.2)	15m 5s
micro_ros_idf (esp32s3, v5.3)	16m 46s
	4h 7m 58s