chore: Use GHA composite action

[Tiryoh]

By utilizing composite action, we can execute CI/CD only for certain ROS distros. For example, if we only updated the Dockerfile for Humble, previously we would rebuild Iron and Rolling as well. However, we will now modify it to include only Humble.

• References
  • https://qiita.com/shun198/items/e7b7a3d9d3b86aec4813
  • https://zenn.dev/noraworld/articles/github-actions-metadata-side-commands
  • https://dev.classmethod.jp/articles/github_actions_composite_action_first_touch/
  • https://zenn.dev/tmknom/books/pragmatic-composite-action/viewer/security

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