fix Lyrical build and CI

[flipflip8952]

Fixes for Lyrical:

• Update legacy .h header includes to .hpp
• Update cmake config (less "ament", more "cmake", but there is still way to go...)
• Rearrange ParserMsg.msg fields and silence warnings. It seems that Lyrical IDL generation has some bug and generates uncompilable code.. :-?

Other:

• Use cmake arguments to explicitly specify clang (for the clang builds)
• Silence some warnings due to colcon only supporting "top-level" cmake args, which are passed to all packages
• Update github actions/checkout version (silence warning)