Fix docker images

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

The DOCKERFILE on main uses humble as the underlay https://github.com/open-rmf/rmf/blob/1c08ff48216b2f36199bf62e12358edcd2ce0616/Dockerfile#L5

Following recent updates across the codebase to support Gazebo Harmonic and drop support for Gazebo Classic, the scheduled docker job fails since the required gz debs are not available on 22.04.

This leads to #477.

In #479 i've upgraded the underlay to rolling which is what it should be in main. Following that, we could update each distro branch to build with the corresponding underlay and create distro specific tags, ie, update https://github.com/open-rmf/rmf/blob/1c08ff48216b2f36199bf62e12358edcd2ce0616/.github/workflows/build.yaml#L22.

Personally I'm keen on dropping the docker images since this was something we needed before we overhauled our versioning and release process to release binaries more frequently. It seems like quite a hassle to maintain. But open to discussing this further.

Start with Dockerfile at the linked underlay line and .github/workflows/build.yaml around line 22, then review #477 and #479. Determine whether the intended outcome is distro-specific underlays and tags or removal of the Docker images; done requires a maintainer decision and a passing scheduled Docker job.