Add publish.yml GitHub Action job to upload urdfdom-py to PyPI

.github/workflows/publish.yml

@@ -0,0 +1,66 @@
+name: Publish Python distributions to PyPI
+
+on:
+  push:
+    branches: ["**"]
+    tags-ignore: ["**"]
+  pull_request:
+  release:
+    types:
+      - published
+jobs:
+  build_wheels:
+    name: Build wheels [${{ matrix.os }}]
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version:
+          - 3.11
+        os:
+          - ubuntu-24.04
+
+    steps:
+      # We do not release exactly the 1.2.1 tag as we need 
+      # to actually release on urdfdom-py
+      - uses: actions/checkout@v4
+        with:
+          repository: 'ros/urdf_parser_py'
+          ref: '492223ce830cafc4dc2dcd98b82bb0eb91511118'
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install pypa/build
+        run: pip install build
+
+      - name: Build wheel and a source tarball
+        run: python -m build --sdist --wheel --outdir dist/ .
+
+      - name: Archive artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist
+
+  deploy:
+    name: Deploy to PyPI
+    runs-on: ubuntu-24.04
+    needs: [build_wheels]
+    if: startsWith(github.ref, 'refs/tags')
+    # Specifying a GitHub environment is optional, but strongly encouraged
+    environment: release
+    permissions:
+      # IMPORTANT: this permission is mandatory for trusted publishing
+      id-token: write
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish distribution to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1