Jetty support: bump to 5.0.0, fix package names

[scpeters]

Part of gazebosim/gz-jetty#38.

This bumps the gz-cmake version to 5.0.0 and adjusts for the removal of major versions from cmake package names and cmake targets (see gazebo-tooling/release-tools#1244). This removes the need for the extra unversioned cmake config files, since these are now provided by the upstream package.

In order to test the vendor packages before stable releases have been made, a VENDOR_FROM_LIB_VCS_REF option is added. The option is OFF by default, but when enabled allows vendoring from a branch, tag or commit specified in the LIB_VCS_REF variable or main if LIB_VCS_REF is unspecified.

[azeey]

CI to build all ROS core packages above gz_cmake_vendor. This should also test gz_utils_vendor and gz_math_vendor as it will check out the scpeters/jetty branch in each of them.

https://ci.ros2.org/job/ci_launcher/16858

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

Edit: The linux job failed because of an outage of archive.ubuntu.com. Rertry:

• Linux

[azeey]

This builds all the way up to gz_launch_vendor, but does not build any of the other ROS core packages other than the ones needed by the vendor packages.

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

Edit: Update gz-utils to use vendored version of CLI11. New builds:

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[azeey]

I realized it is not possible to run the build up to gz_launch_vendor on ci.ros2.org since we can't install dependencies via rosdep. Instead, I ran the test on build.osrfoundation.org with one of the ci__colcon_any jobs. Unfortunetly, the existing ones also had an issue where it wasn't possible to install packages from packages.ros.org, so I copied and modified one of them manually to include that repo.

The first build failed due to an issue in gz-gui, which was fixed by gazebosim/gz-gui#713. The second build passed:

I did see the following warnings:
gz-tools:

CMake Warning:
  Manually-specified variables were not used by the project:

    BUILD_DOCS

gz-sim:

In file included from /usr/include/pybind11/pybind11.h:16,
                 from /tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc:25:
In destructor ‘pybind11::gil_scoped_release::~gil_scoped_release()’,
    inlined from ‘constexpr void std::_Optional_payload_base<_Tp>::_M_destroy() [with _Tp = pybind11::gil_scoped_release]’ at /usr/include/c++/13/optional:287:35,
    inlined from ‘constexpr void std::_Optional_payload_base<_Tp>::_M_reset() [with _Tp = pybind11::gil_scoped_release]’ at /usr/include/c++/13/optional:318:14,
    inlined from ‘std::_Optional_payload<_Tp, false, _Copy, _Move>::~_Optional_payload() [with _Tp = pybind11::gil_scoped_release; bool _Copy = false; bool _Move = false]’ at /usr/include/c++/13/optional:441:65,
    inlined from ‘std::_Optional_base<pybind11::gil_scoped_release, false, false>::~_Optional_base()’ at /usr/include/c++/13/optional:512:12,
    inlined from ‘std::optional<pybind11::gil_scoped_release>::~optional()’ at /usr/include/c++/13/optional:707:11,
    inlined from ‘{anonymous}::MaybeGilScopedRelease::~MaybeGilScopedRelease()’ at /tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc:82:8,
    inlined from ‘{anonymous}::MaybeGilScopedRelease::~MaybeGilScopedRelease()’ at /tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc:82:8,
    inlined from ‘void gz::sim::v10::SimulationRunner::UpdateSystems()’ at /tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc:647:5:
/usr/include/pybind11/gil.h:171:33: warning: ‘*(pybind11::gil_scoped_release*)((char*)&release + offsetof(<unnamed>::MaybeGilScopedRelease, <unnamed>::MaybeGilScopedRelease::release.std::optional<pybind11::gil_scoped_release>::<unnamed>.std::_Optional_base<pybind11::gil_scoped_release, false, false>::<unnamed>)).pybind11::gil_scoped_release::tstate’ may be used uninitialized [-Wmaybe-uninitialized]
  171 |             PyEval_RestoreThread(tstate);
      |             ~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc: In member function ‘void gz::sim::v10::SimulationRunner::UpdateSystems()’:
/tmp/ws/build_isolated/gz_sim_vendor/gz_sim_vendor-prefix/src/gz_sim_vendor/src/SimulationRunner.cc:644:29: note: ‘*(pybind11::gil_scoped_release*)((char*)&release + offsetof(<unnamed>::MaybeGilScopedRelease, <unnamed>::MaybeGilScopedRelease::release.std::optional<pybind11::gil_scoped_release>::<unnamed>.std::_Optional_base<pybind11::gil_scoped_release, false, false>::<unnamed>)).pybind11::gil_scoped_release::tstate’ was declared here
  644 |       MaybeGilScopedRelease release;
      |                             ^~~~~~~
lto-wrapper: warning: using serial compilation of 9 LTRANS jobs
lto-wrapper: note: see the ‘-flto’ option documentation for more information
lto-wrapper: warning: using serial compilation of 2 LTRANS jobs
lto-wrapper: note: see the ‘-flto’ option documentation for more information

I'll go ahead and merge all the Jetty PRs now and sort out these warnings later since they dont' seem critical.