Use global cmake macros and fix gcc-10 build

[christophfroehlich]

The change is motivated from the fact that we added a compiler option, which was introduced with gcc-11. But, debian11 (the humble tier 3), has only gcc-10 per default. (We don't have CI jobs for compatibility of the rolling version on humble debian/rhel.)

#24 258.0 --- stderr: joint_state_broadcaster
#24 258.0 cc1plus: error: '-Werror=range-loop-construct': no option '-Wrange-loop-construct'

So I added a switch depending on the gcc version to add this option or not.
To make the options simpler to handle in the future, I propose to add a global cmake macro instead.
Instead, I created a new package ros2_control_cmake with ros-controls/ros2_control_cmake#1, please review there if we should rename the macros etc.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 85.05%. Comparing base (996f030) to head (154cf0a).
Report is 1 commits behind head on master.

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1527   +/-   ##
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  Coverage   85.05%   85.05%           
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  Files         123      123           
  Lines       11713    11710    -3     
  Branches      999      996    -3     
=======================================
- Hits         9962     9960    -2     
- Misses       1435     1437    +2     
+ Partials      316      313    -3     

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[mathias-luedtke]

@christophfroehlich: Careful, AFAIK bloom does not "bundle" files outside of the package folders.

[christophfroehlich]

oh, thanks for the hint. This means that the packages won't be built on the build farm right?

[mathias-luedtke]

oh, thanks for the hint. This means that the packages won't be built on the build farm right?

Yes.
Bloom creates tag like this:
https://github.com/ros2-gbp/ros2_controllers-release/tree/release/rolling/velocity_controllers/4.20.0-1

The common cmake would need to get packaged.
I am not sure, if it is worth the effort for a humble tier 3.

[christophfroehlich]

it's not the tier 3 I'm concerned about, I have a personal interest due to one of my projects at work ;) but could solve it differently, sure thing.
and the cmake file was just an idea in making the settings global, independent of the actual issue.

[mergify]

This pull request is in conflict. Could you fix it @christophfroehlich?

[saikishor]

Looks great