Catch libsdformat exceptions

[azeey]

🎉 New feature

Summary

After https://github.com/gazebosim/sdformat/pull/1061, any function in libsdformat that would return an sdf::Errors now throws an exception that wraps the errors. This PR makes the necessary API changes to accommodate that.

• Needs https://github.com/gazebosim/sdformat/pull/1061

Test it

Existing tests should pass.

Checklist

• [x] 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)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.