feat: support ROS 2 Humble

[kenji-miyake]

Description

Resolves autowarefoundation/autoware#2443.

I won't merge this PR to main until Galactic support by the AWF ends.
Users have to switch branches if they want to use Humble because it would be too complex if we support both distros in one branch.

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[ghost]

Given that it may take Autoware users some time to upgrade all of their dev platforms and ECUs to Ubuntu 22.04, would it perhaps be better to merge this PR into main in advance of Galactic reaching end of support? 🤔

[kenji-miyake]

@LalithVipulananthan Yes, the current proposal is around the end of August.
autowarefoundation/autoware#358

[wep21]

Suggested change

	# https://github.com/gazebo-release/gz-math6-release/issues/11
	missing_packages/velodyne_simulator:
	type: git
	url: https://github.com/tier4/velodyne_simulator.git
	version: prepare/humble

[wep21]

@kenji-miyake I think the issue has been resolved.

[kenji-miyake]

Failed with arm64. 🤔
https://github.com/autowarefoundation/autoware/runs/6573429005?check_suite_focus=true#step:6:1959

[kenji-miyake]

Asked at https://answers.ros.org/question/401274/why-velodyne_description-isnt-released-for-arm64/.
-> ros2-gbp/velodyne_simulator-release#1

[kenji-miyake]

Build CI:

• https://github.com/autowarefoundation/autoware/runs/6577553569?check_suite_focus=true
• https://github.com/autowarefoundation/autoware/runs/6577553103?check_suite_focus=true

[kenji-miyake]

Similar problem to gazebo-release/gz-math6-release#11.
https://github.com/autowarefoundation/autoware/runs/6585085834?check_suite_focus=true

 libjson-c-dev : Depends: libjson-c5 (= 0.15-2build4) but 0.15-3~ubuntu1.22.04.1 is to be installed
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
  apt: command [apt-get install -y libpcl-dev] failed

But rosdep install in the build CI passed? 🤔
https://github.com/autowarefoundation/autoware/runs/6585145537?check_suite_focus=true

[wep21]

@kenji-miyake There are some conflicts. Could you resolve them?

[kenji-miyake]

A new error? 🤔
https://github.com/autowarefoundation/autoware/runs/7015153176?check_suite_focus=true#step:8:7434

The following packages have unmet dependencies:
 libudev-dev : Depends: libudev1 (= 249.11-0ubuntu3) but 249.11-0ubuntu3.3 is to be installed
E: Unable to correct problems, you have held broken packages.
ERROR: the following rosdeps failed to install
  apt: command [apt-get install -y ros-humble-joy] failed

[kenji-miyake]

Moved to autowarefoundation/autoware#2692.