Fix ROS Humble build

[hello-atharva]

Summary

Bumps several ROS repos to Humble. stretch_moveit_plugins is now using the latest MoveIt API for Humble. This PR also fixes librealsense installation.

[hello-binit]

Hi Atharva, it looks like your accounts got mixed up. The PR is opened by @hello-atharva, but the commit is authored by @atharva-18 . Can you amend the author on that commit and force push it?

[hello-binit]

Awesome, thanks! You might add @hello-chintan as a reviewer since this merges into his branch.

[hello-chintan]

@hello-atharva Binaries for this package are now available. Do we need to source build?

[hello-atharva]

Looks like it! Should we install it here or add that package as a rosdep dependency in stretch_ros2?

[hello-chintan]

The latter sounds like a better idea. Could you add it?

[hello-chintan]

@hello-atharva Binaries available. Do we need to source build?

[hello-atharva]

Ref: #39 (comment)

[hello-atharva]

Looks like latest build using stretch_ros2 on rolling is failing.

Edit:
See issue source below

[hello-atharva]

Are we using the latest API here?
https://github.com/hello-robot/stretch_ros2/blob/28b6a98bb718260c79cbb65fd810480f18c4865a/stretch_moveit2/stretch_moveit_config/src/moveit_draw.cpp#L143

It should be instead:

if(i <= 1){
      disp_plan.trajectory_ = my_plan.trajectory_;
}

[hello-chintan]

@hello-atharva You're right. The MoveIt cpp code will be deprecated in Humble as we move to the Python API, so it's not necessary to update it.

[hello-binit]

Pending Chintan's notes, I think this looks ready to merge.

[hello-chintan]

Looks good. Merging this in.