[Feature]: Add compatibility with libsdformat >= 15

[jorisv]

🚀 Feature

Allow Pinocchio to build against libsdformat >= 15

TODO

• Update SEARCH_FOR_SDFORMAT
• Use CMake targets
• Define minimal supported version
• Add gz-math as explicit dependency (See Missing dependencies or overlinking conda-forge/pinocchio-feedstock#150)

Motivation

Allow pinocchio to be compatible with the last libsdformat verison

Alternatives

No response

Additional context

No response

Checklist

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