Jazzy changes for second edition of the book

[Juancams]

Hello!

After checking all the packages, I'm leaving here the most important changes to make everything work.

• Updated third_parties.repos to use tiago_harmonic branches.
• Updated CI to work properly on jazzy.
• Changed head speed for br2_tracking.
• Updated tiago_navigation.launch.py ​​ to use slam_params_file and twist_stamper. Also added rviz parameter.
• Updated navigation parameters.
• Changed wp, map and test for br2_bt_patrolling.

I hope everything is working properly.

Regards.

[fmrico]

Thanks @Juancams

Merging!!! 🚀

[AESilky]

That looks more complete than my minimal change to the 3rd-Party libraries. I haven't run into the other issues yet, but I'll keep them in mind. The one error that I do get (and haven't yet fixed) is:
fatel error: cv_bridge/cv_bridge.h: No such file or directory

Do any of the above changes take care of that?

[Juancams]

Hi @AESilky

I can't tell you if this is solved in the PR, but if you are working on ROS 2 Jazzy I would recommend updating and checking if the error persists.

This error has appeared on several occasions in other packages I work with, but it did not appear in this one. In my workspace it has compiled in both Jazzy and Rolling, and you can see that the CI is also working in both, so I would recommend updating your packages as well.

In case neither updating your packages nor updating this branch with the latest PR solves your errors, I recommend you make the following change:

#include "cv_bridge/cv_bridge.hpp"

Also, open a new issue with this error, to see if there are more users who have this problem, and if so, make a PR with the solution I mentioned.

I hope it helps you.

Greetings.