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Multiple CI and README.md Improvements (backport #324) #396

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.3)	17m 7s
micro_ros_idf (esp32s2, v5.5)	2m 2s
micro_ros_idf (esp32s2, v5.3)	17m 40s
micro_ros_idf (esp32s2, v5.4)	18m 53s
micro_ros_idf (esp32, v5.2)	16m 42s
micro_ros_idf (esp32, v5.4)	16m 52s
micro_ros_idf (esp32s3, v5.5)	2m 0s
micro_ros_idf (esp32p4, v5.3)	13m 25s
micro_ros_idf (esp32s3, v5.4)	14m 34s
micro_ros_idf (esp32s2, v5.2)	17m 27s
micro_ros_idf (esp32c6, v5.4)	17m 5s
micro_ros_idf (esp32p4, v5.5)	1m 50s
micro_ros_idf (esp32c6, v5.2)	14m 54s
micro_ros_idf (esp32s3, v5.3)	16m 55s
micro_ros_idf (esp32c3, v5.4)	13m 22s
micro_ros_idf (esp32c3, v5.2)	14m 11s
micro_ros_idf (esp32c3, v5.3)	15m 11s
micro_ros_idf (esp32s3, v5.2)	15m 55s
micro_ros_idf (esp32p4, v5.2)	1m 48s
micro_ros_idf (esp32, v5.5)	2m 3s
micro_ros_idf (esp32p4, v5.4)	17m 37s
micro_ros_idf (esp32c6, v5.5)	1m 55s
micro_ros_idf (esp32c3, v5.5)	1m 56s
micro_ros_idf (esp32c6, v5.3)	15m 13s
	4h 46m 37s