build with ros in Ubuntu 22.04/23.04

[lucasw]

Description

This builds and runs in Ubuntu 23.04, and probably also in 22.04 (it builds in CI). It loses some functionality in the process which is why this is just a draft, maybe it can be useful for anyone else want to use webots and ros in 22.04 or later.

Tasks Add the list of tasks of this PR.

• [ ] Update the changelog
• [ ] Update the documentation (if needed)

Additional context

The packages available in Ubuntu from Debian with apt install ros-* (as opposed to install ros-noetic* in 20.04 with the build farm configured) are almost enough to make all of the webots ros code build, except controller manager and moveit aren't there so I've had to disable the code depending on those- a conditionally building them would be preferable of course.

There are a lot of commits trying to get the github action for 20.04 to build, once it works most of those could be squashed down to clean it up- the 22.04 ci does seem to be passing and is building the ros code (earlier it was skipping over it).