Added CI workflow to build the extension and upload it to PyPI

Signed-off-by: Esteve Fernandez <esteve@apache.org>

.github/workflows/release.yml

@@ -0,0 +1,46 @@
+name: Upload Python Package
+
+on:
+  release:
+    types: [published]
+
+permissions:
+  contents: read
+
+jobs:
+  release-build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+      - name: Build release distributions
+        run: pipx run build
+      - name: Upload distributions
+        uses: actions/upload-artifact@v4
+        with:
+          name: release-dists
+          path: dist/
+
+  pypi-publish:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
+    needs:
+      - release-build
+
+    permissions:
+      id-token: write
+
+    # Dedicated environments with protections for publishing are strongly recommended.
+    environment:
+      name: release
+      url: https://pypi.org/p/colcon-ros-cargo
+
+    steps:
+      - name: Retrieve release distributions
+        uses: actions/download-artifact@v4
+        with:
+          name: release-dists
+          path: dist/
+
+      - name: Publish release distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1