Upgrade arm_api2 docker to Jazzy

[mkrizmancic]

At some point, we should upgrade arm_api2 Docker to ROS Jazzy.

Pros:

• Bags record service calls and it's possible to record topics by type
• Default bag format switched to mcap, which has a better performance and is easier to work with
• RCUTILS_CONSOLE_OUTPUT_FORMAT supports human-readable timestamps {date_time_with_ms}, e.g. 2024-06-11 09:29:19.304

  docker_files/ros2/humble/arm_api2/Dockerfile

  Line 15 in 42fe049

  ENV RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{time}] [{name}]: {message}"

• More granular node discovery options: ROS_LOCALHOST_ONLY -> SUBNET, LOCALHOST, OFF, ROS_STATIC_PEERS
• It is possible to configure node logger levels remotely via a service, like in ROS 1.
• Ability to launch a node after another node
• Other fixes and improvements and keeping up with the future :)

Cons:

• Since Ubuntu 24.04., Python does not allow installing packages with pip globally (PEP 668). It seems like the only solution is to create virtual environments. ROS works with system-installed Python. We have to find the best way to run both at the same time (e.g., cv_bridge uses system-installed Numpy 1.x, but Plotly's dash requires Numpy 2.x). https://docs.ros.org/en/jazzy/How-To-Guides/Using-Python-Packages.html
• Packages might break

[fzoric8]

Agree.

For the sake of discussion:

• building Dockerfile for new jazzy could introduce some errors that need further testing, and debugging, and I'm not sure if we have time for now, it could be a task for delegation.
• Ability to launch a node after another node --> I'm not saying it is a best practice, but using hooks in the launch files enables the same functionality in humble, check cosmic launches if interested.
• I think that for the vitpose I removed cv_bridge and replaced it with native cv or numpy methods. We should use this in all repositories. Check that here