Feat: humble

[manato]

Description

This PR adds support to set up ROS 2 Humble environment. Since some L4T are based on Ubuntu 18.04 and unable to exploit pre-build binaries for ROS 2 Humble via apt, this PR adds an ansible role to build ROS 2 Humble from scratch.

Because ROS 2 environment is natively built, docker is no more used after merging this PR. So this PR also includes minor README updates.

Tests performed

setup-dev-env.sh builds ROS 2 Humble as well as installs other dependencies. ROS 2 will be installed in /opt/ros/humble

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• [x] I've confirmed the [contribution guidelines].
• [x] The PR follows the [pull request guidelines].

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• [ ] The PR follows the [pull request guidelines].
• [ ] The PR has been properly tested.
• [ ] The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• [ ] There are no open discussions or they are tracked via tickets.
• [ ] The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.