Update ament index cpp API

[mini-1235]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Supersedes #5822
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

---

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

---

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
• Should this be backported to current distributions? If so, tag with backport-*.

[mini-1235]

It seems like #if AMENT_INDEX_CPP_VERSION_GTE(1, 13, 0) is not available in Jazzy at the moment, so switching to rclcpp's version

Also, I don't see any errors after testing on Tb4 for ~10 minutes, so dropping everything from underlay

Testing on Jazzy also looks good to me

[mini-1235]

Oops, I didn't mean to close this

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...avigator/src/navigators/navigate_through_poses.cpp	89.21% <100.00%> (ø)
...2_bt_navigator/src/navigators/navigate_to_pose.cpp	82.41% <100.00%> (ø)
...core/include/nav2_core/behavior_tree_navigator.hpp	89.28% <100.00%> (ø)
..._ros_common/include/nav2_ros_common/node_utils.hpp	92.13% <100.00%> (+0.27%)	⬆️
nav2_route/src/graph_loader.cpp	100.00% <ø> (ø)
nav2_route/src/graph_saver.cpp	96.00% <ø> (ø)
nav2_smac_planner/src/smac_planner_lattice.cpp	90.78% <100.00%> (ø)

... and 24 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[SteveMacenski]

I like to use Rclcpp in general since that's a stable numbering system and we use it in other places to identify the ROS distribution.