Deprecating tf2 C Headers

[CursedRock17]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(geometry2 issue)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(N/A)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

Related to this pull request in geometry2 in which we deprecated the .h style headers in favor of .hpp.

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@CursedRock17, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

@CursedRock17 some of these headers don’t appear to be renamed. CI does not build. We also run on Rolling binaries, so if it’s not been merged and released yet, then we would need to wait for that to happen before updating Nav2

[CursedRock17]

I should mention this is meant to be a preemptive PR for if/when the related pull request gets approved. I'm also working on a backport so there won't be distribution issues