Replace rosbag2_cpp typesupport helpers with rclcpp typesupport helpers

[authaldo]

Hey @facontidavide ,

first of all thanks for making such an amazing tool availabe as open source!

While trying to update a docker image for Jazzy, I stumbled upon an issue that the plotjuggler ros plugins currently do not build against the current jazzy branch.
More specifically, this backported commit removed the typesupport helpers header from rosbag2_cpp. Consequently, I replaced them the same way they did it in the rosbag repository (with their rclcpp equivalent).

I solely tested this against Jazzy as that is the only version I am currently using , but given it is a backported commit I assume rolling to face the same problem. Not sure about older versions.

[facontidavide]

does it work in Humble?

[facontidavide]

as expected (see CI), this change is not backcompatible with Humble.

If you fix it, I will be happy to merge it

[authaldo]

What would be your preferred way to fix this?

I like the fact that this repository has a single main branch compatible with all active ROS versions. However, since the change doesn't seem to be backported to Humble, these versions have already diverged with respect to the changed header (humble contains the header, while e.g. for jazzy the file has been removed.
Honestly, I would have expected to see this in failing jazzy and rolling pipelines on the current main, however, it may be that the change hasn't found its way into the latest images yet? Or am I missing something else? 🤔

In my view there are a few options:
a) try to achieve a humble backport of the typesupport_helper commit so that all three active versions share this change (not sure whether this is possible)
b) create a separate humble branch without this MR
c) detect the ROS version in the plugin code and handle the difference there

[facontidavide]

Humble is detected by cmake and a defintion is added to compile code conditionally.

https://github.com/PlotJuggler/plotjuggler-ros-plugins/blob/main/src/CMakeLists.txt#L50-L54

Therefore, a clear approach would be hide those functions behing our own, and internally use #ifdef to use one implementation or the other.

Anyway, as long as CI is happy and there are no conflict, I will be happy to merge

[facontidavide]

pre-commit :)