Enable 24.04 CI

[scpeters]

🎉 New feature

Attempting to enable CI on 24.04, similar to https://github.com/gazebosim/gz-math/pull/587

Summary

Adds a workflow using the noble branch of gazebo-tooling/action-gz-ci.

Test it

Observe the CI results.

Checklist

• [X] 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)
• [x] codecheck passed (See contributing)
• [x] 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.