Marco A. Gutierrez

This got messed up, opened a new one [here](https://github.com/gazebosim/gz-sim/pull/1652) against Fortress as suggested.

It seems that the current script (https://github.com/RobotLocomotion/drake/pull/17223/commits/c3a34fb80b54581e19e1be55dc4b5dc137e537fe) generates the [valid output stated above](https://github.com/aaronchongth/drake/blob/aaron/convert-model-directives/multibody/parsing/test/convert_model_directives_test/valid_inject_frames.sdf). To confirm, I printed the `Bodies`, `Frames` and `Joints` for each `ModelInstance` for a `MultibodyPlant` loaded through...

Due to code dependencies I will wait on https://github.com/gazebosim/sdformat/pull/1095 before updating this PR.

Since https://github.com/gazebosim/sdformat/pull/1095 is in I went ahead and addressed the comments above.

> Besides the change I put inline, we should also update the text in `Using-ros1_bridge-Noble-upstream.rst` to specify Ubuntu 24.04 Noble where appropriate. Changes added.

> I think there is another DMD feature not yet supported in this PR. See [#13065 (comment)](https://github.com/RobotLocomotion/drake/issues/13065#issuecomment-1273843047) for details or #17802 for the DMD feature. As per DM with @EricCousineau-TRI:...

@jwnimmer-tri I have no more cycles associated to TRI anymore, it would be great if you can finish whatever is needed to merge this.

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

[This function signature](https://github.com/gazebosim/sdformat/blob/a01e8c4aefd07b7f1b6a01670779786c7887cbb9/src/XmlUtils.hh#L41) 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.

When I thought I was almost done adding the `ToElement(errors)` and `Load()` method tests for the classes in this PR I found out the `ToElement` method of the `Surface` class...