orocos_kdl dependency

[rjoomen]

tesseract_kinematics, tesseract_scene_graph, and tesseract_state_solver have the following dependency on orocos_kdl:

  <depend condition="$ROS_DISTRO != noetic">orocos_kdl</depend>
  <depend condition="$ROS_DISTRO == noetic">liborocos-kdl-dev</depend>

I believe this is outdated, as all newer ROS versions use liborocos-kdl-dev. Or if supporting the old dependency is still desired, we should use some code like >= noetic, if possible.

[rjoomen]

Reason I'm asking is that all CI workflows have orocos_kdl in ROSDEP_SKIP_KEYS, which could be removed if this dependency is fixed.

[Levi-Armstrong]

Currently the oldest version supported is noetic. I would what ever support noetic and newer versions.

[rjoomen]

Ugh, Humble has orocos_kdl_vendor, Foxy has orocos_kdl, Noetic has nothing, and Melodic has orocos_kdl again. And liborocos-kdl-dev is an Ubuntu package, not ROS, but at least that's been available since Bionic. I'll create a PR with liborocos-kdl-dev, or do we also have to support Windows?

[Levi-Armstrong]

We do need to support windows, but I believe this should not impact the windows CI build if you make the proposed change.