Major Updates

[marip8]

This PR makes the following changes to this branch of industrial_calibration:

• Remove legacy code
  • In future, we plan to port some of the relevant content from the previous version of industrial_calibration into the updated version. The legacy code will remain in the repo on the existing branches
• Ports several PRs from robot_cal_tools that had been merged since this branch of industrial_calibration was created
  • Fix dh parameter labels and add method for calculating covariance in tangent space Jmeyer1292/robot_cal_tools#99
  • DH Object Serialization Jmeyer1292/robot_cal_tools#100
  • Improve finding the origin of a modified circle grid Jmeyer1292/robot_cal_tools#104
• Updates the CI configuration to perform ROS-independent builds on Ubuntu Focal and Jammy

The following tasks are on the roadmap for the near future before a (hopefully stable) release:

• Incorporate boost_plugin_loader for the target loader plugins
• Update the examples to be tools that users can pass their own data into
• Create small ROS-wrappers for acquiring calibration data (in separate repos)