Backport fix for optical_frame_id in Depth and RGBD camera sensors

[iche033]

🦟 Bug fix

Summary

Port <optical_frame_id> fixes from https://github.com/gazebosim/gz-sensors/pull/458 and https://github.com/gazebosim/gz-sensors/pull/362 for DepthCamera and RGBD camera sensors.

To test:

Run with this exampel optical_frame_id.sdf world and check the frame_id field in various topics.

ign gazebo -v 4 -s -r optical_frame_id.sdf

# check rgbd camera topics: the `frame_id` value should be `rgbd_optical_frame_id`
ign topic -e -t /rgbd/camera_info  | grep -A 2 frame_id
ign topic -e -t /rgbd/image  | grep -A 2 frame_id
ign topic -e -t /rgbd/depth_image  | grep -A 2 frame_id
ign topic -e -t /rgbd/points  | grep -A 2 frame_id

# check depth camera topics: the `frame_id` value should be `depth_optical_frame_id`
ign topic -e -t /camera_info  | grep -A 2 frame_id
ign topic -e -t /depth/points | grep -A 2 frame_id
ign topic -e -t /depth | grep -A 2 frame_id

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] 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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