fix colcon build and add colcon CI (github action)

[bishibashiB]

Brief feature description

colcon is already mentioned in the documentation to be supported for e.g. building rmw_iceoryx
That seemed broken lately. See also builds in rmw_iceoryx.

Please describe in a few sentences what should be implemented
Colcon build for iceoryx is succeeding again.
There is an automated build that checks if colcon is for iceoryx build successfully.

Detailed information

Also iox-#230 mentioned colcon to be a part of future build strategy for iceoryx. This will be a second good reason to have a CI checking incompatibilities with building colcon as soon as a PR is raised.