Address sdformat11 deprecations

[diegoferigo]

Updates the code to sdformat11, and particularly complies with gazebosim/sdformat#444.

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This PR depends on #307 for Edifice support, and #318 for disabling Dome in CI.

[traversaro]

If I understand correctly, this changes the public ABI and API of the C++ Scenario package. If the project follows semantic versioning (see #81 (comment)) this would mean that the major version needs to bump? If instead the compatibility policy is not semantic versioning (even for a subset of the project) it would be convenient to document it in the README, for downstream packages.

[diegoferigo]

Uhm, the helpers.h is not a public header, but utils.h is public. So, yes, there's actually an API change:

    // OLD
    std::string getModelNameFromSdf(const std::string& fileName,
                                    const size_t modelIndex = 0);
    // NEW
    std::string getModelNameFromSdf(const std::string& fileName);

I'm debating about how to handle the process. The PR targets devel (based on Ignition Edifice which requires sdformat11), and sdformat11 deprecated the functionality updated in this PR.

I think it's safe saying that we follow semantic versioning only for the ScenarIO interface. This is not part of it and I agree that we should document it somewhere.

[traversaro]

I think it's safe saying that we follow semantic versioning only for the ScenarIO interface. This is not part of it and I agree that we should document it somewhere.

For convenient of downstream packages, it would be convenient to specify a API/ABI policy also for the part of ScenarIO that are not part of the interface, even just something as limited as API/ABI is not broken as part of the same patch release x.y.z (that is kind of implicit if you use x.y.z version numbers).

[diegoferigo]

Yep, while you were commenting I opened #337 as reminder.