fix: Update for Pinocchio 4, ROS 2 Lyrical, and Pixi lockfile v7

[sea-bass]

This PR does a bunch of updates:

1. Updates the use of ament_target_dependencies to target_link_libraries where possible, critically noting that this is not only a better way to link, but also that it makes this package build with Pinocchio 4.
2. Adds Lyrical and Rolling to Pixi and to CI, trimming down the copy paste in the CI jobs since this could easily be matrixed. I may ask the maintainers to update the list of required status check in their settings if this looks good.
3. Updates the pixi lockfile format to v7 (sorry for the massive diff this causes!)

Backward compatibility is fully preserved BTW, still builds with Pinocchio 3.x -- hence the fix:.

[danielsanjosepro]

Hey thanks a lot for this! do you know why the rolling CI is failing and do you have a potential fix for this? It was already happening before lyrical. I have not investigated but I was wondering if you found out

[sea-bass]

honestly, it might be just be stale caches. Rolling images were broken for a while because they were still on Ubuntu 24.04 but all the packages were being put on 26.04 (which is why rosdep install fails).

If you run gh cache delete -a from your repo's root folder to blow away all the caches, and re-run CI here, does it work?

I will also say industrial_ci is convenient when it works, but when it doesn't it's very hard to debug. I personally bias towards doing our own Dockerfiles and/or Pixi based CI.

[danielsanjosepro]

I tried your tip to empty the cache but it was not successful. I will probably go for your suggestion and create a pixi based CI. Thank you a lot for this!