Add support for ROS2 Iron Irwini (-Wdeprecated-declarations)

[Vicidel]

Hello, I tried to compile the gateway node in ROS2 Iron Irwini, which lead to -Wdeprecated-declarations warnings, see below for full output. In itself, not blocking, but would be good to support this.

#8 28.71 --- stderr: domain_bridge
#8 28.71 In file included from /home/workspace/src/domain_bridge/include/domain_bridge/domain_bridge.hpp:166,
#8 28.71                  from /home/workspace/src/domain_bridge/src/domain_bridge.cpp:21:
#8 28.71 /home/workspace/src/domain_bridge/include/domain_bridge/service_bridge_impl.inc: In instantiation of ‘void domain_bridge::DomainBridge::bridge_service(const string&, size_t, size_t, const domain_bridge::ServiceBridgeOptions&) [with ServiceT = std_srvs::srv::Trigger; std::string = std::__cxx11::basic_string<char>; size_t = long unsigned int]’:
#8 28.71 /home/workspace/src/domain_bridge/src/domain_bridge.cpp:76:57:   required from here
#8 28.71 /home/workspace/src/domain_bridge/include/domain_bridge/service_bridge_impl.inc:104:58: warning: ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = std_srvs::srv::Trigger; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<std_srvs::srv::Trigger> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Wdeprecated-declarations]
#8 28.71   104 |   auto client = from_domain_node->create_client<ServiceT>(
#8 28.71       |                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
#8 28.71   105 |     resolved_service_name,
#8 28.71       |     ~~~~~~~~~~~~~~~~~~~~~~                                
#8 28.71   106 |     rmw_qos_profile_services_default,
#8 28.71       |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                     
#8 28.71   107 |     options.callback_group());
#8 28.71       |     ~~~~~~~~~~~~~~~~~~~~~~~~~                             
#8 28.71 In file included from /opt/ros/iron/include/rclcpp/rclcpp/node.hpp:1600,
#8 28.71                  from /opt/ros/iron/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
#8 28.71                  from /home/workspace/src/domain_bridge/src/domain_bridge.cpp:17:
#8 28.71 /opt/ros/iron/include/rclcpp/rclcpp/node_impl.hpp:157:1: note: declared here
#8 28.71   157 | Node::create_client(
#8 28.71       | ^~~~
#8 28.71 In file included from /home/workspace/src/domain_bridge/include/domain_bridge/domain_bridge.hpp:166,
#8 28.71                  from /home/workspace/src/domain_bridge/src/domain_bridge.cpp:21:
#8 28.71 /home/workspace/src/domain_bridge/include/domain_bridge/service_bridge_impl.inc:137:52: warning: ‘typename rclcpp::Service<ServiceT>::SharedPtr rclcpp::Node::create_service(const string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = std_srvs::srv::Trigger; CallbackT = const domain_bridge::DomainBridge::bridge_service<std_srvs::srv::Trigger>(const string&, size_t, size_t, const domain_bridge::ServiceBridgeOptions&)::<lambda(std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger> >, std::shared_ptr<rmw_request_id_s>, std::shared_ptr<std_srvs::srv::Trigger_Request_<std::allocator<void> > >)>&; typename rclcpp::Service<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Wdeprecated-declarations]
#8 28.71   137 |     return to_domain_node->create_service<ServiceT>(
#8 28.71       |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
#8 28.71   138 |       service_remapped,
#8 28.71       |       ~~~~~~~~~~~~~~~~~                             
#8 28.71   139 |       handle_request,
#8 28.71       |       ~~~~~~~~~~~~~~~                               
#8 28.71   140 |       rmw_qos_profile_services_default,
#8 28.71       |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~             
#8 28.71   141 |       options.callback_group());
#8 28.71       |       ~~~~~~~~~~~~~~~~~~~~~~~~~                     
#8 28.71 In file included from /opt/ros/iron/include/rclcpp/rclcpp/node.hpp:1600,
#8 28.71                  from /opt/ros/iron/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
#8 28.71                  from /home/workspace/src/domain_bridge/src/domain_bridge.cpp:17:
#8 28.71 /opt/ros/iron/include/rclcpp/rclcpp/node_impl.hpp:190:1: note: declared here
#8 28.71   190 | Node::create_service(
#8 28.71       | ^~~~
#8 28.71 ---
#8 28.71 Finished <<< domain_bridge [27.1s]
#8 28.74 
#8 28.74 Summary: 1 package finished [27.5s]
#8 28.74   1 package had stderr output: domain_bridge