Backport #1908 and #2035

[adlarkin]

Description

Replaces #2042

In attempt to make CI green on the humble branch as well, we are backporting #2039 (see #2040). However, #2040 is currently blocked by a backport of #1908 (#2040 (comment)). I also believe that we should backport #2035 so that Docker images behave as expected and don't break CI.

Once this PR is merged into humble, we should re-trigger the CI on #2040 to make sure it's green. If so, we can merge #2040 as well.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[mergify]

Please target the main branch for development, we will backport the changes to humble for you if approved and if they don't break API.

[codecov]

Codecov Report

Patch coverage: 76.93% and project coverage change: +0.02 🎉

Comparison is base (05f3c6d) 50.93% compared to head (c06ddee) 50.95%.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble    #2081      +/-   ##
==========================================
+ Coverage   50.93%   50.95%   +0.02%     
==========================================
  Files         381      382       +1     
  Lines       31884    31878       -6     
==========================================
+ Hits        16238    16240       +2     
+ Misses      15646    15638       -8     

Impacted Files	Coverage Δ
.../moveit_servo/include/moveit_servo/pose_tracking.h	100.00% <ø> (ø)
moveit_ros/moveit_servo/src/utilities.cpp	74.47% <74.47%> (ø)
moveit_ros/moveit_servo/src/servo_calcs.cpp	66.45% <100.00%> (-0.12%)	⬇️

... and 1 file with indirect coverage changes

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