SDF.cc update calls to use sdf::Errors output

[marcoag]

🎉 New feature

Work towards https://github.com/gazebosim/sdformat/issues/820.

Summary

Adds missing sdf::Errors structure as an option to report errors on SDF. Makes sure that no errors are printed and all are reported through the structure when using the functions that include it as parameter.

Test it

Call the functions that report sdf::Errors through a parameter and no errors should be printed but only reported through the sdf structure.

Checklist

• [x] Signed all commits for DCO
• [x] 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)
• [x] codecheck passed (See contributing)
• [x] 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[marcoag]

This PR depends on https://github.com/gazebosim/sdformat/pull/1294 for the tests to pass since they check nothing is printed.

[marcoag]

This function signature was kept (even though is not public) because otherwise it would involve further changes in parser_urdf.cc and we are leaving those files for future updates.