Bump ubuntu and macos runner versions across CI.

Use supported runners that still support Python 3.8, matching the
system Python on the Brain.

.github/workflows/api_reference.yml

@@ -12,7 +12,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
       fail-fast: false
 
 

.github/workflows/ci.yml

@@ -20,13 +20,13 @@ jobs:
     strategy:
       matrix:
         include:
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
             compiler: gcc
             asan: off
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
             compiler: clang
             asan: off
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
             compiler: clang
             asan: on
 
@@ -41,7 +41,7 @@ jobs:
       working-directory: ./scripts
       run: |
         ./install_deps_ubuntu.sh
-      if: matrix.os == 'ubuntu-20.04'
+      if: matrix.os == 'ubuntu-22.04'
 
     - name: Download dependencies (proto)
       run: |

.github/workflows/ci_python.yml

@@ -14,11 +14,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        # Using macos-12 bc:
-        #  1. they removed support for python 3.8 & 3.9 on macos-14 (now macos-latest)
-        #    - See: https://github.com/actions/setup-python/issues/696#issuecomment-2071769156
-        #  2. `test_pose` fails on macos-13 and macos-14 (but not macos-12)
-        os: [ubuntu-20.04, macos-12]
+        # We use ubuntu-22.04 and macos-13 because they are the final Github runner images
+        # with Python 3.8 pre-installed. Brain OS images based on Jetpack 5 use 3.8 as the
+        # system Python, so we want to test 3.8 even though it is EOL.
+        os: [ubuntu-22.04, macos-13]
         python-version: ['3.8', '3.9', '3.10', '3.11', '3.12']
     steps:
     - uses: actions/checkout@v4

.github/workflows/docs.yml

@@ -12,7 +12,7 @@ on:
 jobs:
   deploy:
     name: Deploy to GitHub Pages
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v2
         with:

.github/workflows/format.yml

@@ -14,7 +14,7 @@ concurrency:
 
 jobs:
   pre-commit-check:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - uses: actions/setup-python@v3

.github/workflows/pypi-release.yml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, macos-12]
+        os: [ubuntu-22.04, macos-13]
     steps:
       - uses: actions/checkout@v4
         with:
@@ -41,7 +41,7 @@ jobs:
 
   build_sdist:
     name: Build source distribution
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
       - name: Build sdist
@@ -52,7 +52,7 @@ jobs:
 
   upload_pypi:
     needs: [build_wheels, build_sdist]
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     if: github.event_name == 'release' && github.event.action == 'published'
     steps:
       - uses: actions/download-artifact@v3

.github/workflows/release.yml

@@ -13,7 +13,7 @@ jobs:
   # Based on https://dev.to/eugenebabichenko/automated-multi-platform-releases-with-github-actions-1abg
   create_release:
     name: Create Release and Provide Upload URL.
-    runs-on: ubuntu-20.04 # OS to create release, not for build
+    runs-on: ubuntu-22.04 # OS to create release, not for build
     outputs:
       # This job will provide URL for build jobs to use for uploading assets
       upload_url: ${{ steps.create_release.outputs.upload_url }}
@@ -39,7 +39,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
       fail-fast: false
 
     steps:
@@ -49,7 +49,7 @@ jobs:
 
       - name: Install system dependencies (Ubuntu)
         run: ./scripts/install_deps_ubuntu.sh
-        if: matrix.os == 'ubuntu-20.04'
+        if: matrix.os == 'ubuntu-22.04'
 
       - name: Install venv dependencies
         run: ./scripts/build_venv/build_venv.sh

.github/workflows/rs.yml

@@ -12,7 +12,7 @@ jobs:
     strategy:
       matrix:
         include:
-          - os: ubuntu-20.04
+          - os: ubuntu-22.04
       fail-fast: false
     steps:
     - uses: actions/checkout@v3
@@ -24,7 +24,7 @@ jobs:
       working-directory: ./scripts
       run: |
         ./install_deps_ubuntu.sh
-      if: matrix.os == 'ubuntu-20.04'
+      if: matrix.os == 'ubuntu-22.04'
 
     - name: Download dependencies (proto)
       run: |