Use //sensor/frame_id sdf element

[iche033]

🎉 New feature

Related issue: #306
Depends on: gazebosim/sdformat#1454

Summary

The different ways of specifying sensor frame id are being deprecated. This PR makes use of the new //sensor/frame_id sdf element introduced in gazebosim/sdformat#1454. It also deprecates the use of the custom <gz_frame_id> tag. If both tags exist, <frame_id> will override <gz_frame_id>

Test it

All test files have been updated to use <frame_id> instead of <gz_frame_id> and the affected integration tests should pass, e.g. depth, thermal, rgbd camera integration tests.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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