Deprecating tf2 C Headers

[CursedRock17]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(geometry2 issue)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(N/A)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

Related to this pull request in geometry2 in which we deprecated the .h style headers in favor of .hpp.

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@CursedRock17, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@CursedRock17 some of these headers don’t appear to be renamed. CI does not build. We also run on Rolling binaries, so if it’s not been merged and released yet, then we would need to wait for that to happen before updating Nav2

[CursedRock17]

I should mention this is meant to be a preemptive PR for if/when the related pull request gets approved. I'm also working on a backport so there won't be distribution issues

[CursedRock17]

With the recent backports merged, this PR should be good for review.

[mergify]

@CursedRock17, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@CursedRock17 this is still blocked by rolling not released into binaries with the update to geometry2. Once that is in (so that rolling binaries have it), we can merge. I'm looking at the rolling binaries and still seeing .h and there's not been a rolling release since November

[SteveMacenski]

@CursedRock17 I reran CI now that the binaries are out. It looks like there's a linting issue. There also appears to be 2x tests that are now deterministically failing -- I'll plan to look at those this afternoon when I get a moment.

Edit: I just fixed the linting issue

Something very odd is going on with those tests that are failing. I'm printing out the values from computeRotateToHeadingCommand and it seems like we're calculating the right angular velocity, but the clamping is failing:

  cmd_vel.twist.angular.z =
    std::clamp(angular_vel, min_feasible_angular_speed, max_feasible_angular_speed);

I'm printing out values and seeing the min_feasible_angular_speed / max_feasible_angular_speed be completely bogus values due to dt being INF. It looks like it never gets a value for controller_frequency, which does make sense, also the costmap origin needed adjustment. I have no idea how this ever worked to be honest with you. Some ROS networking must have kept some parameters around that were fixed in the rolling update. That's the only way this makes sense, since the controller frequency and costmap sizing is never set in this test, but would be for any test with a config file.

[SteveMacenski]

@CursedRock17 thanks for the help in opening this PR, but I'll take it from here in #4823 since I needed to rebase and make some changes + fix the issues mentioned above.

Thanks a ton!