Default to latest Holoscan SDK version (4.1.0)

<!-- This is an auto-generated comment: release notes by coderabbit.ai
-->

## Summary by CodeRabbit

## Release Notes

* **Chores**
* Updated application templates and metadata to support Holoscan SDK
version 4.1.0.
  * Updated Docker container base images to use Holoscan SDK 4.1.0.

<!-- end of auto-generated comment: release notes by coderabbit.ai -->

Signed-off-by: Jean-Christophe Fillion-Robin <jcfr@nvidia.com>