C++ CI Workflow with conda-forge dependencies

Add option FRAMEWORK_COMPILE_Ros1Publisher and deprecate BipedalLoco… #4934

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Run time

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Job	Run time
[ubuntu-latest@Release@conda]	10m 38s
[windows-2019@Release@conda]	20m 22s
[macos-latest@Release@conda]	16m 1s
	47m 1s