ARC 157 Remove ROS2 Foxy Specific Code

[john-chrosniak]

PR Details

Description

This PR removes code that was specific to ROS2 Foxy since we plan to only support Humble in future releases.

Related GitHub Issue

NA

Related Jira Key

ARC-157

Motivation and Context

Part of our migration towards ROS2 Humble.

How Has This Been Tested?

Code was built inside of the ROS2 Humble carma-base docker image.

Types of changes

• Defect fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that cause existing functionality to change)

Checklist:

• I have added any new packages to the sonar-scanner.properties file
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have added tests to cover my changes.
• All new and existing tests passed.

[MishkaMN]

Let's replace the mentions of Foxy with Humble in the README: https://github.com/usdot-fhwa-stol/carma-utils/blob/arc-157-ros2-humble/README.md

[MishkaMN]

There are few other mentions of Foxy:

• https://github.com/usdot-fhwa-stol/carma-utils/blob/arc-157-ros2-humble/carma_ros2_utils/include/carma_ros2_utils/carma_lifecycle_node.hpp#L103
  I think this can probably be just renamed to humble as its seems just documentation.
  Also, I noticed Adam had this PR open, which we can probably apply while we are at it to the same lines:
  https://github.com/usdot-fhwa-stol/carma-utils/pull/146/files#diff-7b92e18eabf8c684cbccf62b2e2e04c62885ff3b4532fae8b35c09a357521a74L104

• There are also mentions about foxy in create_timer and create_service functions in the carma_lifecycle_node.hpp file. From my understanding, create_service is already using the lifecycle's method, so the comment seems outdated?. However. create_timer looks like is still not present in the humble, so we can update the comment to humble. Could you confirm?

• there is also mentions of static_cast in the ros2_lifecycel_manager.cpp file. Let's remove that static_cast

        // Call service and record future
        // TODO(CAR-6014): Remove static cast when CARMA Platform drops ROS Foxy support
        futures.emplace_back(static_cast<const ChangeStateSharedFutureWithRequest &>(node.change_state_client->async_send_request(request, [](ChangeStateSharedFutureWithRequest) {})));

[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud