Update build and CI (backport #329)

[mergify]

Description

Update the build for updated ros2 rolling images as well as the build of the tests and the CI.

Main changes

• Bump CMake minimum version to 3.10
• Add CXX as a language for the tests
• Change visibility configuration to prevent linking error
• Update CI for rolling, kilted and lyrical (it is worth mentioning that a micro-ROS-Agent is built for the tests using its own Superbuild, its configuration had to be modified to prevent noise and issues coming from the logger)
• Add a weekly CI

  ---

  This is an automatic backport of pull request Update build and CI #329 done by Mergify.

[mergify]

Cherry-pick of fdd4c91 has failed:

On branch mergify/bp/humble/pr-329
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit fdd4c91.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   .github/ISSUE_TEMPLATE/general-issue.md
	new file:   .github/workflows/ubuntu-ci.yml
	new file:   .github/workflows/weekly-ubuntu-ci.yml
	modified:   rmw_microxrcedds_c/CMakeLists.txt
	modified:   rmw_microxrcedds_c/test/CMakeLists.txt

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by them: .github/workflows/ci.yml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[mergify]

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[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
⚠️ Please upload report for BASE (humble@d8b8fba). Learn more about missing BASE report.

Additional details and impacted files

@@            Coverage Diff            @@
##             humble     #331   +/-   ##
=========================================
  Coverage          ?   53.98%           
=========================================
  Files             ?       98           
  Lines             ?     5761           
  Branches          ?      911           
=========================================
  Hits              ?     3110           
  Misses            ?     2327           
  Partials          ?      324           

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