[sdformat10] Add new port

[traversaro]

Describe the pull request

• What does your PR fix? This PR adds a new major version of the SDFormat library (http://sdformat.org/). As different major versions of this library can be installed side-by-side, the new version is added as a new port.

• Which triplets are supported/not supported? Have you updated the CI baseline? The port supports the same triplets of its previous port sdformat9 .

• Does your PR follow the maintainer guide? Yes.

[traversaro]

The osx failure is:

: && /Library/Developer/CommandLineTools/usr/bin/c++ -ggdb3 -msse4.1 -mssse3 -msse3 -msse -msse2  -fvisibility=hidden -stdlib=libc++ -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat  -ggdb3 -msse4.1 -mssse3 -msse3 -msse -msse2 -isysroot /Library/Developer/CommandLineTools/SDKs/MacOSX10.15.sdk -dynamiclib -Wl,-headerpad_max_install_names -Wl,-undefined -Wl,dynamic_lookup   -L/Users/vagrant/Data/packages/urdfdom_x64-osx/debug/lib -L/Users/vagrant/Data/packages/console-bridge_x64-osx/debug/lib -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge -compatibility_version 10.0.0 -current_version 10.0.0 -o src/libsdformat10.10.0.0.dylib -install_name @rpath/libsdformat10.10.dylib src/CMakeFiles/sdformat10.dir/Actor.cc.o src/CMakeFiles/sdformat10.dir/AirPressure.cc.o src/CMakeFiles/sdformat10.dir/Altimeter.cc.o src/CMakeFiles/sdformat10.dir/Atmosphere.cc.o src/CMakeFiles/sdformat10.dir/Box.cc.o src/CMakeFiles/sdformat10.dir/Camera.cc.o src/CMakeFiles/sdformat10.dir/Collision.cc.o src/CMakeFiles/sdformat10.dir/Console.cc.o src/CMakeFiles/sdformat10.dir/Converter.cc.o src/CMakeFiles/sdformat10.dir/Cylinder.cc.o src/CMakeFiles/sdformat10.dir/Element.cc.o src/CMakeFiles/sdformat10.dir/EmbeddedSdf.cc.o src/CMakeFiles/sdformat10.dir/Error.cc.o src/CMakeFiles/sdformat10.dir/Exception.cc.o src/CMakeFiles/sdformat10.dir/Frame.cc.o src/CMakeFiles/sdformat10.dir/FrameSemantics.cc.o src/CMakeFiles/sdformat10.dir/Filesystem.cc.o src/CMakeFiles/sdformat10.dir/Geometry.cc.o src/CMakeFiles/sdformat10.dir/Gui.cc.o src/CMakeFiles/sdformat10.dir/ign.cc.o src/CMakeFiles/sdformat10.dir/Imu.cc.o src/CMakeFiles/sdformat10.dir/Joint.cc.o src/CMakeFiles/sdformat10.dir/JointAxis.cc.o src/CMakeFiles/sdformat10.dir/Lidar.cc.o src/CMakeFiles/sdformat10.dir/Light.cc.o src/CMakeFiles/sdformat10.dir/Link.cc.o src/CMakeFiles/sdformat10.dir/Magnetometer.cc.o src/CMakeFiles/sdformat10.dir/Material.cc.o src/CMakeFiles/sdformat10.dir/Mesh.cc.o src/CMakeFiles/sdformat10.dir/Model.cc.o src/CMakeFiles/sdformat10.dir/Noise.cc.o src/CMakeFiles/sdformat10.dir/parser.cc.o src/CMakeFiles/sdformat10.dir/parser_urdf.cc.o src/CMakeFiles/sdformat10.dir/Param.cc.o src/CMakeFiles/sdformat10.dir/Pbr.cc.o src/CMakeFiles/sdformat10.dir/Physics.cc.o src/CMakeFiles/sdformat10.dir/Plane.cc.o src/CMakeFiles/sdformat10.dir/Root.cc.o src/CMakeFiles/sdformat10.dir/Scene.cc.o src/CMakeFiles/sdformat10.dir/SDF.cc.o src/CMakeFiles/sdformat10.dir/SDFExtension.cc.o src/CMakeFiles/sdformat10.dir/SemanticPose.cc.o src/CMakeFiles/sdformat10.dir/Sensor.cc.o src/CMakeFiles/sdformat10.dir/Sphere.cc.o src/CMakeFiles/sdformat10.dir/Surface.cc.o src/CMakeFiles/sdformat10.dir/Types.cc.o src/CMakeFiles/sdformat10.dir/Utils.cc.o src/CMakeFiles/sdformat10.dir/Visual.cc.o src/CMakeFiles/sdformat10.dir/World.cc.o src/CMakeFiles/sdformat10.dir/XmlUtils.cc.o -L/Volumes/data/buildtrees/sdformat10/x64-osx-dbg/src   -L/Volumes/data/buildtrees/sdformat10/x64-osx-dbg/test   -L/Users/vagrant/Data/packages/urdfdom_x64-osx/debug/lib -Wl,-rpath,/Volumes/data/buildtrees/sdformat10/x64-osx-dbg/src -Wl,-rpath,/Volumes/data/buildtrees/sdformat10/x64-osx-dbg/test -Wl,-rpath,/Users/vagrant/Data/packages/urdfdom_x64-osx/debug/lib  /Users/vagrant/Data/installed/x64-osx/debug/lib/libignition-math6.a  /Users/vagrant/Data/installed/x64-osx/debug/lib/libtinyxml2d.a  -lurdfdom_sensor  -lurdfdom_model_state  -lurdfdom_model  -lurdfdom_world  -lconsole_bridge && :
ld: warning: directory not found for option '-L/Users/vagrant/Data/packages/urdfdom_x64-osx/debug/lib'
ld: warning: directory not found for option '-L/Users/vagrant/Data/packages/console-bridge_x64-osx/debug/lib'
ld: warning: directory not found for option '-L/Users/vagrant/Data/packages/urdfdom_x64-osx/debug/lib'
ld: library not found for -lurdfdom_sensor
clang: error: linker command failed with exit code 1 (use -v to see invocation)

That seems some malformed configuration file from urdfdom and console_bridge, possibly its pkg-config .pc files. Indeed, it does not seem that call the appropriate function vcpkg_fixup_pkgconfig ( https://vcpkg.readthedocs.io/en/latest/maintainers/vcpkg_fixup_pkgconfig/ )

[traversaro]

Closing in favor of #14324 .