Revert "Remove foxy." #729

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Job	Run time
build (noetic, x86_64-linux)	33m 19s
build (noetic, aarch64-linux)	6h 0m 2s
build (foxy, x86_64-linux)	6h 0m 9s
build (foxy, aarch64-linux)	6h 0m 2s
build (humble, x86_64-linux)	19m 22s
build (humble, aarch64-linux)	6h 0m 3s
build (iron, x86_64-linux)	16m 42s
build (iron, aarch64-linux)	6h 0m 3s
build (rolling, x86_64-linux)	6h 0m 2s
build (rolling, aarch64-linux)	6h 0m 8s
	1d 19h 9m 52s