Update deprecated tf2 imports from .h to .hpp (backport #3197)

[mergify]

Description

Surprise! More deprecations.
ros2/geometry2#720

This was also backported to Jazzy and Humble, so we will do the same here.

NOTE: Because these changes have not yet made it into Humble binaries, I have conditional includes in. But once Humble gets a sync, we can undo a lot of this and just go full .hpp.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

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This is an automatic backport of pull request #3197 done by [Mergify](https://mergify.com).

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Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 44.16%. Comparing base (fbf95b7) to head (eb1c265).
Report is 1 commits behind head on jazzy.

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Additional details and impacted files

@@            Coverage Diff             @@
##            jazzy    #3200      +/-   ##
==========================================
- Coverage   44.53%   44.16%   -0.37%     
==========================================
  Files         698      698              
  Lines       61593    61572      -21     
  Branches     7458     7457       -1     
==========================================
- Hits        27423    27185     -238     
- Misses      34003    34219     +216     
- Partials      167      168       +1     

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