This issue is to track the task of migrating all usage of TinyXML to TinyXML2 in the ROS2 core codebase.

An inspection with colcon graph shows that these packages still directly depend on tinyxml_vendor:

• urdfdom Switch from tinyxml -> tinyxml2 urdfdom#17
• urdf Remove TinyXML dependency from urdf. urdf#17
• kdl_parser https://github.com/ros/kdl_parser/43

All of the ones below have recursive dependencies on tinyxml_vendor, so they will automatically go away when the above are fixed:

• robot_state_publisher
• dummy_robot_bringup
• rviz_common
• rviz_visual_testing_framework
• rviz_default_plugins
• rviz2