[Humble] Replace more ros-planning with moveit2

[sea-bass]

Description

Missed a few more in #3101... this is hard to do from a phone.

Also generally brought in all the relevant CI changes from main, for parity.

NOTE: This may fail until merged because this will finally upload the humble-ci image to Docker Hub. Took me forever to figure this out.

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.