Use ament clang tidy

[patrick-5546]

Purpose

Streamline our CI. Currently clang-tidy is a separate action, but after prerequisites are complete it can be merged into the ament-lint task.

Prerequisites

• ament clang tidy bug fix is merged in: Clang tidy add extra arg option and return 1 when any error is catched. ament/ament_lint#452
• ament clang tidy ignores protobuf files: clang-tidy: exclude protobuf sources ament/ament_lint#457
• vscode ament task provider extension supports clang-tidy
  • Create a PR in https://github.com/athackst/vscode-ament-task-provider to add support
    • Can use the PR adding mypy support as reference: Add support for mypy athackst/vscode-ament-task-provider#201

Changes

• Use the clang tidy problem matcher in the vscode task
• Merge clang-tidy action into ament-lint
• Install ament clang tidy in base dev image

Resources