[forward iron] Add ROS namespaces to GZ topics

[ahcorde]

🦟 Backport

https://github.com/gazebosim/ros_gz/pull/512

Summary

Backport https://github.com/gazebosim/ros_gz/pull/512

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] 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)
• [ ] 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.