Bump libsdformat 13.5.0->16.0.1

[jhanca-robotecai]

Changes

This PR bumps libsdformat from 13.5.0 to 16.0.1

• bump libsdformat to the newest version
• bump all libsdformat dependencies to the required versions
• update default docker image used for builds from Ubuntu 20.04 to Ubuntu 22.04; tested on Ubuntu 24.04 as well
• fix build of arm64 (reference arm64v8/ubuntu:22.04 is invalid, as official Ubuntu images are multi-arch under ubuntu)
• fix tests to build without errors:

devroot/misc/3p-package-source/package-system/sdformat/test/test_sdformat.cpp:24:41: warning: field precision specifier ‘.*’ expects argument of type ‘int’, but argument 2 has type ‘std::basic_string_view<char>::size_type’ {aka ‘long unsigned int’} [-Wformat=]
   24 |     printf(R"(Validating SDF version "%.*s": )", sdfVersionFull.size(), sdfVersionFull.data());
      |                                       ~~^~       ~~~~~~~~~~~~~~~~~~~~~
      |                                         |                           |
      |                                         int                         std::basic_string_view<char>::size_type {aka long unsigned int}

Note: libsdformatXX.so (e.g., libsdformat13.so) is not a valid target anymore (as of 16.0.1), the target is renamed to match libsdformat convention

A small typo in README was fixed additionally.

Tested

The binaries were built locally:

cd 3p-package-source/Scripts/extras
python3 ./pull_and_build_from_git.py ../../package-system/sdformat --platform-name Linux --clean
python3 ./pull_and_build_from_git.py ../../package-system/sdformat --platform-name Linux-aarch64 --clean

exported with scripts from https://github.com/o3de/3p-package-scripts, in particular:

cd 3p-package-scripts/o3de_package_scripts
python3 pack_package.py -o ../../3p-package-source/package-system/sdformat/temp/out --search_path ../../3p-package-source/package-system/sdformat  ../../3p-package-source/package-system/sdformat/temp/sdformat-linux-aarch64
python3 pack_package.py -o ../../3p-package-source/package-system/sdformat/temp/out --search_path ../../3p-package-source/package-system/sdformat  ../../3p-package-source/package-system/sdformat/temp/sdformat-linux-aarch64

the first one was also untared into ~/.o3de/3rdParty/packages/sdformat-16.0.1-rev1-linux
and tested against RobotImporter in O3DE extras: o3de/o3de-extras#1024

[jhanca-robotecai]

The tests fail due to ancient Clang and GCC hardcoded in the GHA workflows:

  if: runner.os == 'Linux'
  env:
    CLANG_VER: 12
    GCC_VER: 9

I can revert libsdformat build scripts to run correctly on Ubuntu 20.04, but 20.04 is not supported since may 2025. I believe we should consider bumping the base Ubuntu version to the newer in GHA.