(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• Remove outdated cmake code: setting python debug libraries is not needed as of cmake 3.12.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

• 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]

Codecov Report

All modified and coverable lines are covered by tests ✅

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

❗ 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

@@            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

[azeey]

I think we should revert this. We can be sure Jammy has CMake > 3.12, but since the whole project sets the minimum version to 3.10, we can't assume that this is being built by a newer version of CMake.

[Blast545]

All changes related to CMakeLists were removed in 47e82ba