CI - Linux via ROS

Merge pull request #2554 from EtienneAr/topic/ament-ros2 #1214

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Run time

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Job	Run time
CI (noetic, catkin_tools)	29m 48s
CI (rolling)	29m 36s
CI (iron)	29m 46s
CI (humble)	29m 29s
	1h 58m 39s