Update CI to Use RTI Connext 7.3.0 Packages

[lobolanja]

Update CI to Use RTI Connext 7.3.0 Packages

RTI wants to update the provided packages to the latest LTS RTI Connext Version (7.3.0), so we need to update the CI to use the new packages.

This issue should be linked to the related issue in rmw_connext.

@mjcarroll, we will need assistance with adding the new packages to the OSRF internal repository so that CI can access them.

[lobolanja]

@mjcarroll I’ve started the work I understand we’ll need to do once the rti_connext_dds-7.3.0 packages are available in the OSRF infrastructure. You can find the corresponding PR here: ros2/ci#811

[mjcarroll]

@mjcarroll, we will need assistance with adding the new packages to the OSRF internal repository so that CI can access them.

@nuclearsandwich is taking the lead on getting packages landed in the OSRF repository.