Enable 24.04 CI, require cmake 3.22.1

[scpeters]

🎉 New feature

Part of gazebosim/gz-cmake#350.

Summary

This adds a GitHub workflow using Noble and increases our minimum required cmake version to 3.22.1 since we are already requiring that in gz-cmake4. It also removes some old code to support older versions of cmake.

Test it

Look at the 24.04 CI results.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[scpeters]

there are some cmake warnings that should be resolved

[scpeters]

there are some cmake warnings that should be resolved

actually these cmake warnings are preexisting on main, but I'll see if I can fix them here anyway

• https://build.osrfoundation.org/view/gz-ionic/job/gz_sim-ci-main-noble-amd64/3/cmake/

[scpeters]

there are some cmake warnings that should be resolved

actually these cmake warnings are preexisting on main, but I'll see if I can fix them here anyway

• https://build.osrfoundation.org/view/gz-ionic/job/gz_sim-ci-main-noble-amd64/3/cmake/

fix from #2397 is being merged forward in #2422

[scpeters]

CI is relatively happy now, just a flaky test failure on windows

• test failure: https://build.osrfoundation.org/job/gz_sim-pr-win/453/testReport/junit/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/history/
• passing history on main: https://build.osrfoundation.org/job/gz_sim-main-win/54/testReport/(root)/MeshInertiaCalculationTest/history/
• failing history on main: https://build.osrfoundation.org/job/gz_sim-main-win/53/testReport/junit/(root)/INTEGRATION_mesh_inertia_calculation/test_ran/history/