Update Valgrind version in CI docker image

[boquan-fang]

Problem:

Older versions of Valgrind can't run with executable compiled by Clang compiler. The current docker image in CI is using Ubuntu 18 with Valgrind version of 3.18.1. That version of Valgrind along with Clang compiled codes will fail the memory check automatically.

Solution:

• Create another up to date docker image with Ubuntu 24 along with a up to date valgrind version higher than 3.20. The highest version of valgrind that Ubuntu18 provides is version 18 (https://launchpad.net/ubuntu/jammy/+source/valgrind).
• This ticket (https://github.com/llvm/llvm-project/issues/56550) from Valgrind collaborators shows that valgrind with a version higher than 3.20 can do memory check with Clang compiled code.
• My local EC2 instance is running with Valgrind 3.22.0 which can run memory check for executable compiled by Clang-15.

Requirements / Acceptance Criteria:

• The up to date docker image should Valgrind 3.20 or higher and can do memory check for Clang compiled code without any other modifications.

[dougch]

Ubuntu22 only ships with valgrind 3.18 so Ubuntu24 it is.