Add Ubuntu Jammy CI

[chapulina]

🎉 New feature

Summary

We support Jammy for Fortress onwards, and we're ready to test it in CI.

Test it

Run GitHub Actions CI.

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [x] 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

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[ahcorde]

@osrf-jenkins retest this please