Post-Jazzy and Pre-Jazzy builds have diverged

[evan-palmer]

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Issue details

I was reviewing the CI for #1988, and saw that the Jazzy/Rolling builds succeed, but the addition causes build failures in releases prior to Jazzy (e.g., humble).

[evan-palmer]

It seems like the ros2 branch may need to split to account for the different dependencies. What do you think @vooon? Do you have ideas for an alternative solution?

[vooon]

Probably better to add conditionals into CMakeLists.txt. Simply check version of rclcpp and then add or skip libyaml.

[evan-palmer]

Good idea. I'll submit a PR with that fix.