Use ABI workflow from ros2_control_ci (backport #264)

[mergify]

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This is an automatic backport of pull request #264 done by [Mergify](https://mergify.com).

[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 72.40%. Comparing base (4c64752) to head (82605b5).
Report is 3 commits behind head on humble.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble     #271      +/-   ##
==========================================
- Coverage   73.45%   72.40%   -1.06%     
==========================================
  Files           9        9              
  Lines         550      558       +8     
  Branches      215      220       +5     
==========================================
  Hits          404      404              
- Misses         96      104       +8     
  Partials       50       50              

Flag	Coverage Δ
unittests	72.40% <ø> (-1.06%)	⬇️

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