Enable Twist interpolator (backport #646)

[mergify]

Related with this issue #643

---

This is an automatic backport of pull request #646 done by Mergify.

[mergify]

Cherry-pick of 62322b8 has failed:

On branch mergify/bp/iron/pr-646
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit 62322b8f.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   tf2/src/buffer_core.cpp
	modified:   tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp
	modified:   tf2_geometry_msgs/test/test_tf2_geometry_msgs.cpp
	modified:   tf2_py/src/tf2_py.cpp
	modified:   tf2_py/test/test_buffer_core.py
	modified:   tf2_ros/CMakeLists.txt
	new file:   tf2_ros/test/velocity_test.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tf2/include/tf2/buffer_core.h
	both modified:   tf2_ros/test/test_buffer.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[ahcorde]

• Linux
• Linux-aarch64
• Windows

[ahcorde]

@ros-pull-request-builder retest this please

[ahcorde]

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

warning on RHEL is unrelated