[CI] Use reusable wfs from ros2_control_ci and use matrix strategy

[christophfroehlich]

• Use the reusable workflow files from https://github.com/ros-controls/ros2_control_ci
• Use matrix strategy for main/testing repos instead of duplicate workflows

[codecov]

Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (9f7e9e9) 47.71% compared to head (dd4a65e) 71.72%.
Report is 21 commits behind head on master.

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1040       +/-   ##
===========================================
+ Coverage   47.71%   71.72%   +24.00%     
===========================================
  Files          41       41               
  Lines        3871     3639      -232     
  Branches     1833     1782       -51     
===========================================
+ Hits         1847     2610      +763     
+ Misses        751      715       -36     
+ Partials     1273      314      -959     

Flag	Coverage Δ
unittests	71.72% <73.13%> (+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%)	⬆️
...jectory_controller/joint_trajectory_controller.hpp	100.00% <ø> (+20.00%)	⬆️
...include/joint_trajectory_controller/trajectory.hpp	73.33% <ø> (+23.33%)	⬆️
...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	80.45% <87.50%> (+33.33%)	⬆️
joint_trajectory_controller/src/trajectory.cpp	89.67% <77.77%> (+22.10%)	⬆️
tricycle_controller/src/tricycle_controller.cpp	60.58% <60.60%> (+27.93%)	⬆️

... and 28 files with indirect coverage changes