geometry_msgs::msg::Pose2D deprecation

[fmrico]

Hi,

geometry_msgs::msg::Pose2D has been deprecated (ros2/common_interfaces#283). I suggest changing to geometry_msgs::msg::Pose.

I can prepare a PR if you think this is the solution, @SteveMacenski . It is not complicated, but laborious, as it is used everywhere.

[SteveMacenski]

Ah ok - personally I do not like that this was removed one bit, but I understand their point. I see your open PR so I'll give that a look as soon as I can (its very large, so I'm going to do it daily in ~50 file chunks).

One question that I immediately have is whether we want to migrate to Pose or just create a nav2_msgs::msg::Pose2D instead. I think alot of the community (me included) want a Pose2D since so much of what we do in mobility is with SE2 space that the Z and quaternion are overkill + add alot of bloat in the code.

One way of handling this is to make a geometry_util that converts an X,Y,Theta into a Pose so we can hide all that boilerplate of populating the message + converting the angle into a quat. We already have the first parts of that here.

Since you already did it, I think we can axe the nav2_msgs::msg::Pose2D idea but adding and using that utility might improve this