Set up semantic-release

See:
- https://github.com/embesozzi/java-semantic-release/blob/master/.github/workflows/main.yml
- https://github.com/conveyal/maven-semantic-release
- https://github.com/marketplace/actions/action-for-semantic-release#extra_plugins
- https://docs.github.com/en/actions/publishing-packages/publishing-java-packages-with-maven#publishing-packages-to-github-packages