adding ros2 iron CI / docker, fixing #1103 #345

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Run time

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Job	Run time
docker_deps (focal-deps)	33s
docker_deps (jammy-deps)	34s
docker (xenial)	24m 41s
docker (bionic)	2h 9m 17s
docker (focal)	3h 14m 34s
docker (jammy)	2h 18m 22s
docker (android23)	19m 21s
docker (android24)	25m 32s
docker (android26)	17m 55s
docker (android30)	19m 29s
	9h 30m 18s