Add Ubuntu Jammy CI (#32)

[scpeters]

🎉 New feature

Part of gazebo-tooling/release-tools#566

Summary

We support Jammy for Fortress onwards, and we're ready to test it in CI.

Test it

Run GitHub Actions CI.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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.

[codecov]

Codecov Report

Merging #378 (1866176) into ign-math6 (3c8a8fa) will not change coverage.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           ign-math6     #378   +/-   ##
==========================================
  Coverage      99.65%   99.65%           
==========================================
  Files             67       67           
  Lines           6380     6380           
==========================================
  Hits            6358     6358           
  Misses            22       22           

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[ahcorde]

@osrf-jenkins retest this please

[mjcarroll]

Needs to be ported to main as well