fix: publish_images Action pushes images with the right version

[mainred]

What type of PR is this?

What this PR does / why we need it:

Currently, publish_images Github Action constantly pushes images to the GitHub registry with version v0.1.0, which is correct. Fix this by:

• push images to the registry with the main version when the trigger is by the main branch push
• push images to the registry with the created tag when the trigger is by a tag creation

Meanwhile, we changed the makefile to modify the image version to a short-versioned commit SHA-1 hash instead of the constant v0.1.0

Which issue(s) this PR fixes:

Fixes #

Requirements:

• Read and followed fleet-networking's Code of conduct.
• uses conventional commit messages
• includes documentation
• adds unit tests

How has this code been tested

Special notes for your reviewer

[mainred]

This is based on the change of Azure/fleet#203