ROS 2 Rolling

[mhubii]

Introduce a rolling branch with releases for jazzy (for now).

Also consider uncrustify formatting.

Refer e.g.

ament_uncrustify --reformat <path to file>

[mhubii]

Fix compilation errors (i.e. deprecations):

• .hpp file convention:

lbr_fri_ros2_stack/lbr_demos/lbr_moveit_cpp/src/hello_moveit.cpp:2:
/opt/ros/jazzy/include/moveit_ros_planning_interface/moveit/move_group_interface/move_group_interface.h:51:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’
   51 | #pragma message(".h header is obsolete. Please use the .hpp header instead.")
      |

• set_value now return success and enforces nodiscard, e.g.

warning: ignoring return value of ‘bool hardware_interface::LoanedCommandInterface::set_value(const T&, unsigned int) [with T = double]

• get_value now returns an optionally managed object:

warning: ‘double hardware_interface::LoanedStateInterface::get_value() const’ is deprecated: Use std::optional<T> get_optional() instead to retrieve the value. This method will be removed by the ROS 2 Kilted Kaiju release. [-Wdeprecated-declarations]
  127 |     joint_position_states_[i] = joint_position_state_interfaces_[i].get().get_value();

• Deprecated use of hardware_interface::HardwareInfo:

warning: ‘virtual rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn hardware_interface::HardwareComponentInterface::on_init(const hardware_interface::HardwareInfo&)’ is deprecated: Use on_init(const HardwareComponentInterfaceParams & params) instead. [-Wdeprecated-declarations]
    7 |       hardware_interface::SystemInterface::on_init(system_info); // parses system_info to info_

[mhubii]

Also refer to humble -> jazzy documentation: https://control.ros.org/jazzy/doc/ros2_control/doc/migration.html