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Multiple CI and README.md Improvements (backport #324) (#342) #399

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.4)	16m 52s
micro_ros_idf (esp32, v5.2)	17m 35s
micro_ros_idf (esp32c3, v5.3)	15m 51s
micro_ros_idf (esp32s2, v5.4)	17m 44s
micro_ros_idf (esp32, v5.3)	16m 58s
micro_ros_idf (esp32s3, v5.4)	17m 45s
micro_ros_idf (esp32s2, v5.2)	16m 34s
micro_ros_idf (esp32c3, v5.4)	17m 32s
micro_ros_idf (esp32c6, v5.3)	14m 16s
micro_ros_idf (esp32s2, v5.3)	18m 14s
micro_ros_idf (esp32c3, v5.2)	13m 13s
micro_ros_idf (esp32s3, v5.2)	16m 33s
micro_ros_idf (esp32s3, v5.3)	16m 16s
micro_ros_idf (esp32c6, v5.2)	15m 9s
micro_ros_idf (esp32c6, v5.4)	17m 1s
	4h 7m 33s