CI pipeline

Rewrite overlay action (#446) #1865

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Run time

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Job	Run time
lint	41s
lint	41s
build-test (noetic)	18m 29s
build-test (noetic)	18m 29s
build-test (humble)	39m 53s
build-test (humble)	39m 53s
build-test (iron)	23m 36s
build-test (iron)	34m 53s
build-test (jazzy)	51m 0s
build-test (jazzy)	51m 0s
build-docs	0s
build-docs	2m 22s
deploy-docs	0s
deploy-docs	54s
	4h 41m 51s