Add continuous integration tests and changelog

[CarlottaSartore]

As per the title

[traversaro]

Not sure if you want to add the CHANGELOG, to be honest I am quite of tempted of removing it from repos I mantain, and instead rely on nicely written PR titles and automatically generated release notes (see https://docs.github.com/en/repositories/releasing-projects-on-github/automatically-generated-release-notes).