urdfdom: Replace tinyxml with tinyXML2

[robwoolley]

The urdfdom package has a host contamination related to tinyXML.

The number of packages dependent on the old tinyXML is limited to urdfdom and menge: https://index.ros.org/p/tinyxml_vendor/github-ros2-tinyxml_vendor/#humble-deps

Upstream urdfdom also upgraded to tinyXML2 in December 2023: https://github.com/ros/urdfdom/commit/18325bea276abb3d5c014a10b0df54fe5ef255fc

In order to eliminate the host contamination, reduce footprint, and remove an unmaintained package we should backport the change to use tinyXML2.

This is applicable across all supported ROS distros and Yocto releases.