🎈 2.4.0

[chapulina]

🎈 Release

Preparation for 2.4.0 release.

Comparison to 2.3.0: ignition-physics2_2.3.0...ign-physics2

Needed by: gazebosim/gz-sim#427

Checklist

• Asked team if this is a good time for a release
• There are no changes to be ported from the previous major version
• No PRs targeted at this major version are close to getting in
• Bumped minor for new features, patch for bug fixes
• Updated changelog
• Updated migration guide (as needed)
• Link to PR updating dependency versions in appropriate repository in ignition-release (as needed):

Note to maintainers: Remember to use Squash-Merge

[codecov]

Codecov Report

Merging #247 (ef094d4) into ign-physics2 (8173772) will not change coverage.
The diff coverage is n/a.

❗ Current head ef094d4 differs from pull request most recent head bab624b. Consider uploading reports for the commit bab624b to get more accurate results

@@              Coverage Diff              @@
##           ign-physics2     #247   +/-   ##
=============================================
  Coverage         82.94%   82.94%           
=============================================
  Files               106      106           
  Lines              4034     4034           
=============================================
  Hits               3346     3346           
  Misses              688      688           

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