Update packages for Ubuntu 24.04

[chhtz]

These are some osdeps which need to be changed for Ubuntu 24.

• libsdformat unfortunately is not provided by Ubuntu 24 anymore. The easiest way I found to install it is via the gazebo repositories (building from source requires also downloading lots of dependencies just for their build-system).
  Under Ubuntu 22 it is available as libsdformat-dev and installs version 12.3 (libsdformat6-dev actually links to version 12.3 as well)
• pypy does not exist anymore but pypy3 does
• libprocps-dev is replaced by libproc2-dev (this may not be completely compatible though)

For all packages I'm open for discussions which version/OS should be "default".
At some point we may also want to remove very old OS versions? (I doubt anyone has tested Ubuntu 14.04 recently ...)

[chhtz]

libprocps-dev can't directly be replaced by libproc2-dev, they do (approximately) the same thing, but have completely different APIs. Maybe better mark the first as nonexistant on Ubuntu 24?

[pierrewillenbrockdfki]

I heard that the default should be the most recent OS version, because that allows newer versions to work seamless if they use the same package name.

[doudou]

libprocps-dev can't directly be replaced by libproc2-dev, they do (approximately) the same thing, but have completely different APIs. Maybe better mark the first as nonexistant on Ubuntu 24?

That would be fair IMO

[doudou]

I heard that the default should be the most recent OS version, because that allows newer versions to work seamless if they use the same package name.

Ideally, if possible, yes.

[doudou]

• libsdformat unfortunately is not provided by Ubuntu 24 anymore. The easiest way I found to install it is via the gazebo repositories (building from source requires also downloading lots of dependencies just for their build-system).
  Under Ubuntu 22 it is available as libsdformat-dev and installs version 12.3 (libsdformat6-dev actually links to version 12.3 as well)

I agree. Building these packages is a pain.

I don't know what's the best option. I'm personally fine with importing the gazebo repositories since we actually use gazebo... Other option would be to disable SDF support in gui/robot_model by default.

[doudou]

IMO best is to remove the

[doudou]

As you suggested, I think the best is to mark it as nonexistent instead of adding libproc2-dev here.