Re-work colcon/ci for use in the ros-infrastructure org (#2) #27

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Run time

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Job	Run time
yamllint	5s
canary / setup	3s
canary / pytest (macos-latest, 3.7)	52s
canary / pytest (macos-latest, 3.8)	46s
canary / pytest (macos-latest, 3.9)	48s
canary / pytest (macos-latest, 3.10)	1m 10s
canary / pytest (macos-latest, 3.11)	48s
canary / pytest (macos-latest, 3.12)	58s
canary / pytest (ubuntu-latest, 3.7)	45s
canary / pytest (ubuntu-latest, 3.8)	33s
canary / pytest (ubuntu-latest, 3.9)	33s
canary / pytest (ubuntu-latest, 3.10)	34s
canary / pytest (ubuntu-latest, 3.11)	38s
canary / pytest (ubuntu-latest, 3.12)	32s
canary / pytest (ubuntu-20.04, 3.6)	35s
	9m 40s