[21387] Fix windows CI and add vanilla build step in ubuntu CI

[JesusPoderoso]

Description

This PR fixes the windows CI that was using a removed eProsima-CI action, and includes a vanilla build job in ubuntu CI.
As part of the CI, it is backported to 2.6.x

@Mergifyio backport 2.10.x 2.6.x

Contributor Checklist

• Commit messages follow the project guidelines.
• N/A The code follows the style guidelines of this project.
• N/A Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A Any new/modified methods have been properly documented using Doxygen.
• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• N/A Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• N/A Changes are API compatible.
• N/A New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[elianalf]

LGTM with green CI Fast DDS Python is failing because there is a branch with the same name.

[JesusPoderoso]

@Mergifyio backport 2.10.x 2.6.x

[mergify]

backport 2.10.x 2.6.x

✅ Backports have been created

• #5098 [21387] Fix windows CI and add vanilla build step in ubuntu CI (backport #5095) has been created for branch 2.10.x
• #5099 [21387] Fix windows CI and add vanilla build step in ubuntu CI (backport #5095) has been created for branch 2.6.x but encountered conflicts