Refactor tf_bridge demo

[caguero]

Refactors the tf_bridge demo leveraging the latest improvements in ros_gz.

• I replaced the previous launch file from Python to XML.

Summary

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)
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