refactor: simplify Rolling support

[kenji-miyake]

Description

As a follow-up of #849, I replaced the custom-defined macros with ROS_DISTRO macros.

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[esteve]

@kenji-miyake thanks for simplifying this code. Regarding these blocks:

#ifdef ROS_DISTRO_GALACTIC
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

do it the other way around, because otherwise we'd have to add an #ifdef for Rolling, Humble, etc. so instead:

#ifdef ROS_DISTRO_FOXY
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

a different option is to keep the code as is, but instead of adding USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER to the compile definitions in the CMakeLists.txt files, add it to autoware_cmake() when compiling for anything lower than Galactic. What do you think?

[esteve]

@kenji-miyake forget what I just wrote, for some reason I thought we supported Foxy and that the special case for Galaxy was the same as for Rolling and Humble.

[esteve]

@kenji-miyake is it documented anywhere that we no longer support Foxy? Otherwise this code would fail when compiling on Foxy.

[kenji-miyake]

@esteve Although there is no background written, the supported distros are here.
https://autowarefoundation.github.io/autoware-documentation/main/installation/#ros-version

[kenji-miyake]

Foxy has several problems and isn't supported anymore.

Related discussions of Autoware.Auto:

• https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1168
• https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/merge_requests/1246#note_746053339

[kenji-miyake]

After Humble, I think we should support LTS distros at least until the next LTS is released. (If there is no special reason like Foxy.)

And regarding Humble, we have to plan a migration strategy.
Here is the issue: #268

[esteve]

@kenji-miyake thanks for the links, in that case the changes look good to me.