Attempt to fix Rolling 22.04 CI Until 24.04 Comes of Age (#4229)

* attempt to fix 22.04 CI

* adding inline comment reminder

.circleci/config.yml

@@ -33,12 +33,12 @@ _commands:
         - restore_cache:
             name: Restore Cache << parameters.key >>
             keys:
-              - "<< parameters.key >>-v20\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -{{ .Branch }}\
                 -{{ .Environment.CIRCLE_PR_NUMBER }}\
                 -{{ checksum  \"<< parameters.workspace >>/lockfile.txt\" }}"
-              - "<< parameters.key >>-v20\
+              - "<< parameters.key >>-v21\
                 -{{ arch }}\
                 -main\
                 -<no value>\
@@ -58,7 +58,7 @@ _commands:
       steps:
         - save_cache:
             name: Save Cache << parameters.key >>
-            key: "<< parameters.key >>-v20\
+            key: "<< parameters.key >>-v21\
               -{{ arch }}\
               -{{ .Branch }}\
               -{{ .Environment.CIRCLE_PR_NUMBER }}\
@@ -96,6 +96,11 @@ _commands:
                 (echo vcs_export && cat) >> lockfile.txt
               sha256sum $PWD/lockfile.txt >> lockfile.txt
 
+              # Temp: Rolling transition to 24.04 leaves rosdep in 22.04 in the lurch
+              # This replaces main rosdep index with the last prior to release: Feb 28, 2024
+              sed -i "s|ros\/rosdistro\/master|ros\/rosdistro\/rolling\/2024-02-28|" /etc/ros/rosdep/sources.list.d/20-default.list
+              export ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros/rosdistro/rolling/2024-02-28/index-v4.yaml
+
               apt-get update
               rosdep update --rosdistro $ROS_DISTRO
               dependencies=$(