General upgrades to assistive-rehab docker image

[randaz81]

We performed the following upgrades to the basic docker image.

• we upgraded the base image from ubuntu 20.04 to ubuntu 22.04.
• we upgraded to VTK 9.1. (Previously 8.2. No changes were required on the user code)
• we pulled the latest navigation repo in order to use baseControl2 instead of the deprecated baseControl. This upgrade triggered a few minor changes (port names) on the user code because the odometry is now provided by yarprobotinterface device driver Odometry2D_nws_yarp and not by baseControl.
• ros2 and yarp-devices-ros2 repo installed on the image.

[pattacini]

Consider that now we publish docker images on ghcr.io through a GH action. See:

• #336.
• https://github.com/robotology/assistive-rehab/pkgs/container/assistive-rehab.