Refactor rgbd_camera_bridge demo

[caguero]

Refactors the rgbd_camera_bridge demo leveraging the latest improvements in ros_gz.

• I replaced the previous launch file from Python to XML.
• I didn't tackle the options using ros_gz_image or ros_gz_point_cloud for now.

Summary

Checklist

• [x] 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.