[ROS-O] Modernize CI / cmake

[rhaschke]

• Replace enforcement of (old) C++14 standard with moveit_build_options() Ubuntu 22.04 uses C++17 as default and fails on old C++14
• Modernize CI setup

[codecov-commenter]

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Codecov Report

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

Project coverage is 17.36%. Comparing base (021d04e) to head (d11a9bd). Report is 18 commits behind head on master.

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Additional details and impacted files

```diff @@ Coverage Diff @@ ## master #137 +/- ## =========================================== - Coverage 75.05% 17.36% -57.68% =========================================== Files 9 20 +11 Lines 529 1976 +1447 Branches 0 243 +243 =========================================== - Hits 397 343 -54 - Misses 132 1559 +1427 - Partials 0 74 +74 ```

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