Adapt changes from ROS2 rolling to ros2-devel branch

[jediofgever]

Hello,
The updates from upstream ROS2 causes diagnostics to have deprecation messages when compiling;

--- stderr: diagnostic_updater
In file included from /opt/underlay_ws/src/ros/diagnostics/diagnostic_updater/src/example.cpp:35:
/opt/underlay_ws/src/ros/diagnostics/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.hpp: In constructor ‘diagnostic_updater::Updater::Updater(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeLoggingInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeParametersInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface>, double)’:
/opt/underlay_ws/src/ros/diagnostics/diagnostic_updater/include/diagnostic_updater/diagnostic_updater.hpp:393:28: warning: ‘rclcpp::Duration::Duration(rcl_duration_value_t)’ is deprecated: Use Duration::from_nanoseconds instead or std::chrono_literals. For example:rclcpp::Duration::from_nanoseconds(int64_variable);rclcpp::Duration(0ns); [-Wdeprecated-declarations]
  393 |     warn_nohwid_done_(false)

Can we adapt to the chages so we dont see this deprecation messages ?
Thank you for your time.

unrelated reference for myself
ros-navigation/navigation2#2111

[Karsten1987]

changes for this are inflight : #177

as soon as merged, I'll cut a new release for rolling. Thanks for reporting!