[CI] Use reusable wfs from ros2_control_ci and use matrix strategy (backport #1040)

[mergify]

This is an automatic backport of pull request #1040 done by Mergify.
Cherry-pick of cb6884a has failed:

On branch mergify/bp/iron/pr-1040
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit cb6884a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	renamed:    .github/workflows/iron-binary-build-main.yml -> .github/workflows/iron-binary-build.yml
	deleted:    .github/workflows/iron-rhel-binary-build.yml
	renamed:    .github/workflows/iron-semi-binary-build-main.yml -> .github/workflows/iron-semi-binary-build.yml
	modified:   .github/workflows/iron-source-build.yml
	deleted:    .github/workflows/reusable-ros-tooling-source-build.yml
	renamed:    .github/workflows/rolling-binary-build-main.yml -> .github/workflows/rolling-binary-build.yml
	deleted:    .github/workflows/rolling-rhel-binary-build.yml
	renamed:    .github/workflows/rolling-semi-binary-build-main.yml -> .github/workflows/rolling-semi-binary-build.yml
	modified:   .github/workflows/rolling-source-build.yml

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   .github/workflows/humble-binary-build.yml
	deleted by us:   .github/workflows/humble-debian-build.yml
	deleted by us:   .github/workflows/humble-rhel-semi-binary-build.yml
	deleted by us:   .github/workflows/humble-semi-binary-build.yml
	deleted by us:   .github/workflows/humble-source-build.yml
	deleted by them: .github/workflows/iron-binary-build-testing.yml
	deleted by us:   .github/workflows/iron-debian-build.yml
	both modified:   .github/workflows/iron-rhel-semi-binary-build.yml
	deleted by them: .github/workflows/iron-semi-binary-build-testing.yml
	deleted by them: .github/workflows/reusable-industrial-ci-with-cache.yml
	deleted by them: .github/workflows/rolling-binary-build-testing.yml
	deleted by us:   .github/workflows/rolling-debian-build.yml
	both modified:   .github/workflows/rolling-rhel-semi-binary-build.yml
	deleted by them: .github/workflows/rolling-semi-binary-build-testing.yml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[mergify]

This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich?

[christophfroehlich]

Readding humble files, just to avoid conflicts with future backports.