add test workflow for Windows

Since Windows setup is more complicated than Ubuntu
the workflow relies on `ros-tooling/setup-ros` and
`ros-tooling/action-ros-ci` while skipping the build script
because of ros-tooling/setup-ros#552.

.github/workflows/test_windows.yaml

@@ -0,0 +1,40 @@
+name: Test on Windows
+on:
+    workflow_dispatch:
+    push:
+        branches: [master]
+    pull_request:
+        branches: [master]
+
+jobs:
+    test_windows:
+        strategy:
+            matrix:
+                os: [windows-2019]
+                ros-distribution: [humble]
+
+        runs-on: ${{ matrix.os }}
+
+        steps:
+        - name: Checkout source
+          uses: actions/checkout@v3
+
+        - name: Install .NET SDK 6.0
+          uses: actions/setup-dotnet@v3
+          with:
+              dotnet-version: "6"
+
+        - name: Setup ROS2
+          uses: ros-tooling/setup-ros@v0.6
+          with:
+            required-ros-distributions: ${{ matrix.ros-distribution }}
+
+        - name: Build Tests
+          uses: ros-tooling/action-ros-ci@v0.3
+          with:
+            package-name: ros2cs_tests
+            vcs-repo-file-url: file://ros2_${{ matrix.ros-distribution }}.repos
+            extra-cmake-args: -DBUILD_TESTING=1
+            target-ros2-distro: ${{ matrix.ros-distribution }}
+
+