[CI] Backport #1636 #1668 and fix coverage on jammy (backport #1677)

[mergify]

Backport #1636 #1668 and fix coverage on jammy

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This is an automatic backport of pull request #1677 done by Mergify.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 62.17%. Comparing base (1634124) to head (a73fa1a).
Report is 1 commits behind head on iron.

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1693      +/-   ##
==========================================
+ Coverage   62.09%   62.17%   +0.08%     
==========================================
  Files         102      109       +7     
  Lines       11791    12205     +414     
  Branches     8458     8548      +90     
==========================================
+ Hits         7322     7589     +267     
- Misses        744      864     +120     
- Partials     3725     3752      +27     

Flag	Coverage Δ
unittests	62.17% <100.00%> (+0.08%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...ller_manager/test/test_ros2_control_node_launch.py	100.00% <100.00%> (ø)
controller_manager/test/test_spawner_unspawner.cpp	57.72% <100.00%> (+0.40%)	⬆️

... and 8 files with indirect coverage changes