[Fixing CI] using chrono literals for durations from rclcpp API update

[SteveMacenski]

Per https://app.circleci.com/pipelines/github/ros-planning/navigation2/4121/workflows/80503470-8d6a-4e4f-bbee-65a65e1cab04/jobs/15663

/opt/ros/foxy/include/rclcpp/duration.hpp:46:12: note: declared here
   46 |   explicit Duration(rcl_duration_value_t nanoseconds);
      |            ^~~~~~~~
In file included from /opt/overlay_ws/src/navigation2/nav2_util/include/nav2_util/lifecycle_node.hpp:25,
                 from /opt/overlay_ws/src/navigation2/nav2_util/src/lifecycle_node.cpp:15:
/opt/underlay_ws/install/bondcpp/include/bondcpp/bond.hpp:142:76: error: ‘rclcpp::Duration::Duration(rcl_duration_value_t)’ is deprecated: Use Duration::from_nanoseconds instead or std::chrono_literals. For example:rclcpp::Duration::from_nanoseconds(int64_variable);rclcpp::Duration(0ns); [-Werror=deprecated-declarations]
  142 |   bool waitUntilBroken(rclcpp::Duration timeout = rclcpp::Duration(-1 * 1e9));
      |                                                                            ^

Bondcpp with ROS2 main is a little unhappy with the use of duration integers without from_nanoseconds (new) or chrono literals. I updated everything to use chrono literals.

Using this job as a test https://app.circleci.com/jobs/github/ros-planning/navigation2/15671 that this removes the deprecation warning

[SteveMacenski]

Also, I'd be more than happy to be added as a ROS2 maintainer for bond since its in my dependency tree for Nav2. That way I can fix these types of things up more quickly. At least until the new ROS2 bond replacement using DDS features is complete / ready.

[SteveMacenski]

Job shows that its no longer bondcpp failing - this resolves the issue. The failures remaining are having to fix the same deprecation across the nav2 stack itself.

[SteveMacenski]

15:29:19 CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
15:29:19   Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE)
15:29:19 Call Stack (most recent call first):
15:29:19   /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
15:29:19   /usr/share/cmake-3.16/Modules/FindPkgConfig.cmake:41 (find_package_handle_standard_args)
15:29:19   CMakeLists.txt:19 (find_package)

This rolling PR builder is failing from unrelated things

[mjcarroll]

Interesting, I'll take a look at this today.

[SteveMacenski]

@mjcarroll any thoughts?

[mjcarroll]

Sorry, this plus #70 should at least get us building (but not passing tests)