"Backport" of #720 in which we added .hpp versions of the .h files in tf2, but without the warning message to get backwards compatibility and prevent weird syntax like this:

#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp> // for ROS 2 Jazzy or newer
#else
#include <cv_bridge/cv_bridge.h> // for ROS 2 Humble or older
#endif