[CI] Specify runner/container images and codecov for joint_limits (backport #1504)

[mergify]

Necessary changes to make ros-controls/ros2_control_ci#53 work for noble.

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This is an automatic backport of pull request #1504 done by Mergify.

[mergify]

Cherry-pick of db00041 has failed:

On branch mergify/bp/humble/pr-1504
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit db00041.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   .github/workflows/humble-source-build.yml
	modified:   .github/workflows/iron-source-build.yml
	modified:   .github/workflows/rolling-coverage-build.yml
	modified:   .github/workflows/rolling-pre-commit.yml
	modified:   .github/workflows/rolling-source-build.yml
	modified:   codecov.yml
	modified:   ros2controlcli/ros2controlcli/api/__init__.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ros2controlcli/ros2controlcli/verb/load_controller.py

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally