Support ROS 2 Humble

[Kuwamai]

What does this implement/fix?

ROS 2 Humbleに対応します。

Does this close any currently open issues?

しません

How has this been tested?

Gazeboと実機で、crane_x7_examplesのサンプルが動作することを確認しています。

Any other comments?

• hardware_interfaceのread, write関数に引数time, durationが追加されましたがX7には使用しないためコメントアウトしています
  • 参考: Best practice for hardware_interface implementation · ros-controls/ros2_control
• joint_valuesのサンプルスクリプトの稼働速度が早くて危険なためsetMaxVelocityScalingFactorを0.5にしました
• GazeboでX7のcrane_x7_upper_arm_revolute_part_rotate_jointが曲がらない不具合を確認しています
  • gz-simの修正待ちです
    • 関連issue: Joint Controllers not working properly when joint limits are specified gazebosim/gz-sim#1684
  • こちらのPull requestにて正常に動作することを確認しています
    • 参考: Mimic Joint Improvement ros-controls/gz_ros2_control#86

Checklists

• I have read the CONTRIBUTING guidelines.
  • If there is no guideline in the repository, rt-net organization's guideline applies.
• I have checked to ensure there aren't other open Pull Requests for the same change.

[ShotaAk]

実機実行時に下記のエラーが発生するので、moveitのjoint_limits.yamlにmax velocityをセットしてください

[move_group-1] [ERROR] [1669004207.824471669] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_shoulder_fixed_part_pan_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825310432] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_shoulder_revolute_part_tilt_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825357529] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_upper_arm_revolute_part_twist_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825459619] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_upper_arm_revolute_part_rotate_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825491321] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_lower_arm_fixed_part_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825529978] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_lower_arm_revolute_part_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825559398] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_wrist_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825589886] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_gripper_finger_a_joint but did not set a max velocity
[move_group-1] [ERROR] [1669004207.825619185] [moveit_ros.robot_model_loader]: Specified a velocity limit for joint: crane_x7_gripper_finger_b_joint but did not set a max velocity

[ShotaAk]

実機での動作確認完了しました。
コメントの確認お願いします。

gazeboでの動作は未確認です（RVizから動かせなかったので調査中）

[ShotaAk]

LGTMです

後ほど、package.xmlのバージョン更新PRを作成お願いします。