Support/Check the operation with ROS 2 Iron Irwini

Happy World Turtle Day! The new ROS 2 Release "Iron Irwimi" has come!
https://discourse.ros.org/t/ros-2-iron-irwini-released/31553

We need to check the operation with Iron installed on the host, and if it does not work, issues should be clarified and resolved.
Also, ROS 2 Foxy will soon be sunset. If it is difficult to manage the code to support both, we may eliminate the code for Foxy.