add modern gazebo packages

[anton-matosov]

The rest of the migration will be done once description and basic state publishing is fixed

The full simulation demo is available in
https://control.ros.org/master/doc/ros2_control_demos/example_9/doc/userdoc.html

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 57.30%. Comparing base (cf52e7e) to head (028a034).
Report is 2 commits behind head on main.

✅ All tests successful. No failed tests found.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #116   +/-   ##
=======================================
  Coverage   57.30%   57.30%           
=======================================
  Files          72       72           
  Lines        1937     1937           
  Branches       64       64           
=======================================
  Hits         1110     1110           
  Misses        803      803           
  Partials       24       24           

Flag	Coverage Δ
unittests-amd64	57.30% <ø> (ø)
unittests-arm64	57.30% <ø> (ø)

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