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Multiple CI and README.md Improvements (backport #324) (#341) #400

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Run time

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Job	Run time
micro_ros_idf (esp32s2, v5.5)	1m 55s
micro_ros_idf (esp32s2, v5.2)	17m 6s
micro_ros_idf (esp32s2, v5.3)	18m 29s
micro_ros_idf (esp32, v5.3)	16m 35s
micro_ros_idf (esp32s3, v5.4)	17m 28s
micro_ros_idf (esp32, v5.5)	1m 57s
micro_ros_idf (esp32s3, v5.3)	16m 42s
micro_ros_idf (esp32, v5.2)	14m 55s
micro_ros_idf (esp32c3, v5.4)	15m 27s
micro_ros_idf (esp32s3, v5.5)	1m 49s
micro_ros_idf (esp32, v5.4)	16m 42s
micro_ros_idf (esp32s2, v5.4)	17m 28s
micro_ros_idf (esp32s3, v5.2)	16m 36s
micro_ros_idf (esp32c3, v5.5)	1m 55s
micro_ros_idf (esp32c3, v5.3)	15m 10s
micro_ros_idf (esp32c6, v5.3)	15m 47s
micro_ros_idf (esp32c6, v5.5)	1m 56s
micro_ros_idf (esp32c6, v5.4)	15m 55s
micro_ros_idf (esp32p4, v5.3)	15m 39s
micro_ros_idf (esp32p4, v5.4)	16m 56s
micro_ros_idf (esp32p4, v5.5)	2m 3s
micro_ros_idf (esp32p4, v5.2)	1m 13s
micro_ros_idf (esp32c6, v5.2)	15m 46s
micro_ros_idf (esp32c3, v5.2)	15m 28s
	4h 50m 57s