first of all about LM7805, yes it is a 5V regulator but it is big stretch to drop 19V. should be ok if the expected current draw is really small or this chip will need heatsink. depending on your circuit consumption, consider SMPS regulator, you can get switching version of 7805 which costs $3-5 and it is drop in replacement, no heatsink required and good for 1.5 or so.
PIC cannot drive outputs running at 24V directly, this is where ULN2803 comes in. ULN2803 is used for low side switching, but if you need to switch high side, consider UDN2981 or UDN2982.

