Noetic support

[pazeshun]

Updated version of #2761

[pazeshun]

Now I think what I can do in this PR is over.

• GitHub Actions:
  • All tests including Noetic passed
• Travis:
  • Tests other than Noetic passed
  • Noetic test failed because we do not have a Noetic docker image of jsk_apc:
    https://app.travis-ci.com/github/start-jsk/jsk_apc/jobs/608350772
    That image cannot be generated until this PR is merged and build on Docker Hub succeeds
• Docker Hub:
  • indigo-latest image was successfully built:
    https://hub.docker.com/repository/registry-1.docker.io/jskrobotics/jsk_apc/builds/6ed6e766-253c-4a05-ad74-c60140b8f010
    But other images cannot be built on pull request because we only have one Dockerfile. We have several build rules to generate other images, but they target master branch and I could not apply them to pull request.
    (Also, another troublesome point of pull request build on Docker Hub is that those who are not members of jskrobotics group on Docker Hub cannot see the build log. So I'll disable pull request build on Docker Hub again after this PR finishes.)

@knorth55 Could you briefly check this PR? Does this PR satisfy what you want to do in #2746 and #2761 ?

[knorth55]

@pazeshun thanks! this PR satisfies what I wanted to do.