Remove source builds of geometric_shapes and srdfdom (backport #3233)

[mergify]

Description

We had added these a few months back to circumvent some breakages, but this should no longer be needed.

Q: Should we backport this to Jazzy? Because if so, srdfdom there is at 2.0.5 and not 2.0.7, so I think we may need to first release to there. But I also forget whether the srdfdom version was actually a problem in Jazzy, or it was just Rolling. I guess it's worth just testing the backport?

(self-answer): I just pushed srdfdom 2.0.7 releases to humble and jazzy on rosdistro.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

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This is an automatic backport of pull request #3233 done by [Mergify](https://mergify.com).

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 40.76%. Comparing base (97ee34e) to head (f5bb665).
Report is 1 commits behind head on jazzy.

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3387      +/-   ##
==========================================
- Coverage   44.40%   40.76%   -3.63%     
==========================================
  Files         701      688      -13     
  Lines       61871    57194    -4677     
  Branches     7496     7496              
==========================================
- Hits        27468    23311    -4157     
+ Misses      34236    32355    -1881     
- Partials      167     1528    +1361     

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