added jazzy, kilted, and rolling CI and support

[davidt315]

1. Adds jazzy, kilted, and rolling to the ROS2 build and test CI
2. addresses all catch2 v2/v3 differences across ROS distrobutions
3. addresses all magic_enum include differences across ROS distrobutions
4. modernizes cmake away from ament_target_dependencies in favor of target_link_libraries. use ament_cmake_auto where possible
5. Removes old TODOs and unused variables

[zeerekahmad]

Looks good to me! Thank you for doing this!