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Update GitHub actions to versions using Node v20 #339

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Run time

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Job	Run time
linting	1m 22s
build-amd64	11m 44s
build-arm64	8m 42s
build-ros2-amd64	13m 48s
build-ros2-arm64	22m 47s
build-armhf	7m 58s
build-ros2-armhf	22m 29s
build-android	23m 59s
copy-cfn-templates	0s
build-docker	1m 40s
build-docker-ros2	2m 37s
	1h 57m 6s