(Backport) Enable 24.04 CI, remove distutils dependency (#1408)

[Blast545]

• distutils is no longer required since this branch requires a new enough version of cmake.
• Remove outdated cmake code: setting python debug libraries is not needed as of cmake 3.12.
• Require cmake 3.22.1

🦟 Bug fix

Should fix CI on sdformat for Harmonic. See reference job: https://build.osrfoundation.org/job/sdformat-ci-sdf14-noble-amd64/

Summary

Backporting the removal of the distutils dependency

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] 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.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 92.44%. Comparing base (ff9b3ad) to head (e100e03). Report is 12 commits behind head on sdf14.

:exclamation: Current head e100e03 differs from pull request most recent head 47e82ba. Consider uploading reports for the commit 47e82ba to get more accurate results

Additional details and impacted files

```diff @@ Coverage Diff @@ ## sdf14 #1413 +/- ## ========================================== + Coverage 92.42% 92.44% +0.01% ========================================== Files 134 135 +1 Lines 17751 17837 +86 ========================================== + Hits 16406 16489 +83 - Misses 1345 1348 +3 ```

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[Blast545]

@scpeters ABI checker is failing on the CMake version :/

[scpeters]

@scpeters ABI checker is failing on the CMake version :/

I think this is a problem with infra and not this PR; let's try to fix the infra