add cpp version for urdf_tutorial (backport #4926)

[mergify]

---

This is an automatic backport of pull request #4926 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 228a7b2 has failed:

On branch mergify/bp/humble/pr-4926
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 228a7b2.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-cpp.rst
	renamed:    source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher.rst -> source/Tutorials/Intermediate/URDF/Using-URDF-with-Robot-State-Publisher-py.rst

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   source/Tutorials/Intermediate/URDF/URDF-Main.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[github-actions]

HTML artifacts: https://github.com/ros2/ros2_documentation/actions/runs/13509991917/artifacts/2644976733.

To view the resulting site:

1. Click on the above link to download the artifacts archive
2. Extract it
3. Open html-artifacts-5057/index.html in your favorite browser