migrate travis ci to new pipeline setup

[juanrh]

Issue #, if available:

Description of changes:
migrate travis ci to new pipeline setup

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[codecov-io]

Codecov Report

❗ No coverage uploaded for pull request base (master@117e699). Click here to learn what that means.
The diff coverage is n/a.

@@            Coverage Diff            @@
##             master      #28   +/-   ##
=========================================
  Coverage          ?   89.51%           
=========================================
  Files             ?       16           
  Lines             ?      820           
  Branches          ?        0           
=========================================
  Hits              ?      734           
  Misses            ?       86           
  Partials          ?        0

Flag	Coverage Δ
#ROS_1	89.51% <ø> (?)
#ROS_2	91.84% <ø> (?)
#bouncy	91.84% <ø> (?)
#crystal	91.84% <ø> (?)
#kinetic	89.61% <ø> (?)
#lunar	89.61% <ø> (?)
#melodic	91.84% <ø> (?)

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[juanrh]

done in #31