Use TF2 package for quaternion conversion (backport #1031) #1041
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The OpenCV quaternion class was not added until OpenCV 4.5.1, so it's less widely available than the TF2 conversion. This change allows a source build of the ROS 2 "perception" variant on Ubuntu 20.04 without a custom source build of OpenCV.
Addresses issue #1030
This is an automatic backport of pull request #1031 done by Mergify.