Autoware.universe support ROS2.JAZZY

[liuXinGangChina]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

We will make some necessary modification to current autoware code to make it work with ros2 jazzy.
In order to achieve that, we should follow below steps:

add ci support for ros jazzy
edit current core code to make it pass ci check
support humble and jazzy at the same tim

Purpose

make autoware.universe work with ros2 jazzy.

Possible approaches

1. add ci support for ros jazzy(add docker build process and pr check process)
   

2. edit current core code to make it pass ci check
   

Definition of done

• 1. add ci support for ros jazzy
• 2. edit current core code to make it pass ci check