[CI] Improvements and Cleanups

[christophfroehlich]

RHEL/Debian

• Build and test only the packages from this repo, instead of all packages imported with the repos file. I used colcon list instead of hardcoding it as it is done with the lint jobs.
• Split build and test steps, and let the test step continue-on-error: The main goal is to detect compilation problems with unsupported C++ features, which are now visible at first glance. Tests remain flaky on theses platforms, which is a different issue.
• use reusable workflows for both platforms
• use a semi-binary build for RHEL

Others

• Use a single package list for lint job
• Remove the wrong branch field below workflow_dispatch

Backport after #1016 and #1017/#1029 and #1030

[codecov]

Codecov Report

Attention: 16 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (b2aee2c) 71.71%.
Report is 18 commits behind head on master.

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1028       +/-   ##
===========================================
+ Coverage   47.71%   71.71%   +24.00%     
===========================================
  Files          41       41               
  Lines        3871     3628      -243     
  Branches     1833     1777       -56     
===========================================
+ Hits         1847     2602      +755     
+ Misses        751      714       -37     
+ Partials     1273      312      -961     

Flag	Coverage Δ
unittests	71.71% <70.37%> (+24.00%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	68.63% <100.00%> (+20.57%)	⬆️
...nclude/tricycle_controller/tricycle_controller.hpp	100.00% <ø> (ø)
...roadcaster/src/force_torque_sensor_broadcaster.cpp	82.53% <75.00%> (+21.93%)	⬆️
...ory_controller/src/joint_trajectory_controller.cpp	80.39% <83.33%> (+33.28%)	⬆️
tricycle_controller/src/tricycle_controller.cpp	60.94% <60.60%> (+28.29%)	⬆️

... and 31 files with indirect coverage changes