🎉 New feature

Related to gazebosim/ros_gz#732 and gazebosim/ros_gz#790

Summary

This PR adds initial documentation for using ROS 2 simulation interfaces (https://github.com/ros-simulation/simulation_interfaces) to interact with Gazebo. Other simulators such as Isaac Sim (https://docs.isaacsim.omniverse.nvidia.com/latest/ros2_tutorials/tutorial_ros2_simulation_control.html#ros2-simulation-control) and ODE3 (https://www.docs.o3de.org/docs/user-guide/interactivity/robotics/simulation-interfaces/) have already updated their documentations.

Test it

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• 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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