feat(ci): Add jazzy

[130s]

Description

Following the decision to target jazzy as a focused ROS distro #1033 (comment), checking PRs off of main branch against jazzy on this repo makes sense.

Note for reviewers

• How this PR is formed: At the time of writing, some commits picked up from fix: ament_target_dependencies() deprecation #1104, which has been a testbed PR and is planned to be closed.

Checklist

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[mergify]

This pull request is in conflict. Could you fix it @130s?

[rhaschke]

I had several comments to this (and previous PRs). Thus I started a cleaned-up new one: #1110.
I would be very happy, if you could contribute there. I don't have much time to continue on this mess.