Enable 24.04 CI

[scpeters]

🎉 New feature

Attempting to enable CI on 24.04, similar to gazebosim/gz-math#587

Summary

Adds a workflow using the noble branch of gazebo-tooling/action-gz-ci. Also switches to actions/checkout@v4.

Test it

Observe the 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.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 81.79%. Comparing base (3838ce6) to head (6fbedb6).

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #129   +/-   ##
=======================================
  Coverage   81.79%   81.79%           
=======================================
  Files           8        8           
  Lines         401      401           
=======================================
  Hits          328      328           
  Misses         73       73           

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