Bump minimum versions for humble

[Ryanf55]

• Use C++17
• Use CMake 3.14.4
• https://www.ros.org/reps/rep-2000.html#humble-hawksbill-may-2022-may-2027 This is in prep for using some C++17 features like [[maybe_unused]] and [[nodiscard]]

[JWhitleyWork]

@Ryanf55 The ros2 branch currently targets Iron and Rolling (though CI doesn't reflect that - it will soon) since they are the most current releases. There is a separate humble branch to which this will need to be back-ported. However, these are still valid changes for this branch as well.

[Ryanf55]

@Ryanf55 The ros2 branch currently targets Iron and Rolling (though CI doesn't reflect that - it will soon) since they are the most current releases. There is a separate humble branch to which this will need to be back-ported. However, these are still valid changes for this branch as well.

Thanks sounds good. Bumping to 3.23 would be amazing for file set support for users who want a library that can be built standalone without ROS, but that's beyond REP2000 versions. It looks like there is effort for ROS independent libs, but it's not complete. I'd be interested to open up a discussion on how to make that a reality for consumers while keeping comparability with REP2000.