Categories support for declarative CI configs in yaml

[j-rivero]

The PR implements the definition of categories for the different CI jobs that can be used to define the different CI configurations more accurate when generating the different jobs expected.

The code handles the following four categories:

• pr:
  • jobs generation: enables the -ci-pr_any- / -pr- jobs that builds code on PRs
• pr_abichecker:
  • restrictions: require pr category. Only linux.
  • jobs generation: enables the -ci-abichecker- jobs that builds code on PRs
• stable_branches
  • jobs generation: enables the -ci-$branch- jobs that builds frequently on stable branches.
• stable_branches_asan
  • restrictions: require pr category. Only linux.
  • jobs generation: enables the -ci_asan- jobs that builds frequently on stable branches.

The changes in this PR should not change the code generated in any way. They just introduce the support.

Note: changes are hard to review unless using w=1 https://github.com/gazebo-tooling/release-tools/pull/1123/files?w=1

[j-rivero]

Merging to test the gz-harmonic/noble configurations.