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Multiple CI and README.md Improvements (#324) #388

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Run time

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Job	Run time
micro_ros_idf (esp32s2, v5.4)	16m 36s
micro_ros_idf (esp32, v5.4)	16m 5s
micro_ros_idf (esp32s2, v5.3)	15m 56s
micro_ros_idf (esp32, v5.2)	15m 54s
micro_ros_idf (esp32s3, v5.4)	17m 25s
micro_ros_idf (esp32s2, v5.2)	17m 50s
micro_ros_idf (esp32c3, v5.4)	16m 54s
micro_ros_idf (esp32s3, v5.3)	17m 9s
micro_ros_idf (esp32c3, v5.2)	13m 28s
micro_ros_idf (esp32s3, v5.2)	16m 51s
micro_ros_idf (esp32c3, v5.3)	15m 11s
micro_ros_idf (esp32c6, v5.4)	16m 33s
micro_ros_idf (esp32, v5.3)	16m 34s
micro_ros_idf (esp32c6, v5.2)	15m 18s
micro_ros_idf (esp32c6, v5.3)	15m 33s
	4h 3m 17s