Feature/fix broken images

[MSECode]

This PR add some fixes to the basic images.
Specifically we introduced a fix to make working the image superbuild-icubhead-withuser and the images that uses robometry.
Moreover we improved the workflows and clean the Dockerfile of the images.

[MSECode]

Since I'm encountering other errors during the build process of the images that need to re-build the robotology-superbuild starting from a not empty cache of it, such as the image superbuild-icubhead-robometry that uses superbuild-icubhead-withuser as starting image, I'll keep this PR in draft until those errors gets cleaned.
Anyways, this problem needs to be investigated more considering that it is not just an issue in the building of the children images but you can have the same issue if you desire to run a container based on that image and you desire to re-build the superbuild, as an example when you need to test your code and then you need to build in devel mode.
In particular, the error I'm now talking about is shown by the screen below. I've encountered it while re-build the robotology-superbuild starting from the image superbuild-icubhead-withuser and enabling the option ROBOTOLOGY_ENABLE_DYNAMICS.
I've got the same exact issue either if setting CMAKE_INSTALL_PREFIX to the standard path: robotology-superbuild/build/install or to another custom directory. Thinking that it could have been a cmake version problem I've also tried to generate the base image not using cmake 3.22.1, which is the one given by ubuntu:jammy by default, but removing it and re-installing cmake and cmake-guid version 3.29.0 during the generation of the image. In both cases the outcome was the same.

[valegagge]

Hi @MSECode ,
thanks for your contribution!
Can you summarize the major changes in bullet points hereafter?

In addition please take into account this issue #37 during your tests.