WIP: [capability] Add GitHub CI config

[130s]

In a support for #24 with as less effort as possible, I think having CI do some work will be helpful.

If CI fails and I can find time to address, I can also add such changes in this PR if that's ok.

[130s]

Not yet sure why CI hasn't been triggered on this repo for this PR, but on my fork it is triggered https://github.com/130s/srv_tools/actions/runs/1831022995 and failed. Obviously some code changes seem to be needed

E.g. https://github.com/130s/srv_tools/runs/5160898301?check_suite_focus=true

  Starting  >>> plot_tools                          
  
  Warnings   << plot_tools:install /root/target_ws/logs/plot_tools/build.install.000.log
  package init file 'scripts/plot_tools/__init__.py' not found (or not a regular file)
  package init file 'scripts/plot_tools/__init__.py' not found (or not a regular file)
  cd /root/target_ws/build/plot_tools; catkin build --get-env plot_tools | catkin env -si  /usr/bin/make install; cd -
  
  
  Finished  <<< plot_tools                           [ 2.1 seconds ]
  Starting  >>> pointcloud_tools                    
  
  Errors     << pointcloud_tools:cmake /root/target_ws/logs/pointcloud_tools/build.cmake.000.log
  ** WARNING ** io features related to openni will be disabled
  ** WARNING ** io features related to openni2 will be disabled
  ** WARNING ** io features related to pcap will be disabled
  ** WARNING ** io features related to png will be disabled
  ** WARNING ** io features related to libusb-1.0 will be disabled
  ** WARNING ** visualization features related to openni will be disabled
  ** WARNING ** visualization features related to openni2 will be disabled
  ** WARNING ** apps features related to openni will be disabled
  CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
    Could NOT find Boost (missing: signals) (found version "1.71.0")
  Call Stack (most recent call first):
    /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
    /usr/share/cmake-3.16/Modules/FindBoost.cmake:2179 (find_package_handle_standard_args)
    CMakeLists.txt:8 (find_package)

If I can find time I'd like to contribute adding patches but if anyone can do that I'm happy to take PR against my forked branch so that I can merge your changes into my PR (and you retain your commit authorship).