Update to Gazebo Harmonic/Jazzy

### Feature description

The simulation package needs a few updates to work with Gazebo Harmonic in Jazzy, mainly: (1) Update on ros2 control tag, and (2) Add a hook so the robot's meshes are correctly found when launching the robots in gazebo.

### Implementation considerations

Update ros2 control tags and add a hook for gazebo to find the simulation's models/meshes.