Update to ubuntu 22.04

[sid-parikh]

Description

Updates the stack to be dependent on ROS2 Humble (which is associated with Ubuntu 24)

Associated / Resolved Issue

Resolves # or ClickUp card

Design Documents

Link

Steps to Test

Test Case 1

1. Step 1
2. Step 2
3. Step 3

Expected result:???

Key Files to Review

• setup files primarily and cmake
• minor changes have been made to

!! need follow up with a PR soon -- the "changelog" needs to moved to a useful format (Gdrive?)
(or just paste it into a PR description)

Review Checklist

• Docstrings: All methods and classes should have the file appropriate docstrings which follow the guidelines in the "Contributing" page of our docs.
• Remove extra print statements: Any print statements used for debugging should be removed
• Tag reviewers: Tag some people for review and ping them on Slack

[jacksherling]

Looks good to me overall
if you want we can update docs/source/installation.rst in this pr otherwise I can do it after we merge this

[jacksherling]

do we want to include this?