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.

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.