Enable 24.04 CI, require cmake 3.22.1

[scpeters]

🎉 New feature

Part of gazebosim/gz-cmake#350.

Summary

This adds a GitHub workflow using Noble and increases our minimum required cmake version to 3.22.1 since we are already requiring that in gz-cmake4. It also removes some old code to support older versions of cmake.

Test it

Look at the 24.04 CI results.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• 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.