Merge ign-gazebo6 ➡️ main

[azeey]

➡️ Forward port

Port ign-gazebo6 ➡️ main

Branch comparision: main...ign-gazebo6

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

[codecov]

Codecov Report

Merging #1519 (a3cbd8c) into main (09fd519) will increase coverage by 0.00%.
The diff coverage is 66.66%.

❗ Current head a3cbd8c differs from pull request most recent head c608355. Consider uploading reports for the commit c608355 to get more accurate results

@@           Coverage Diff           @@
##             main    #1519   +/-   ##
=======================================
  Coverage   63.62%   63.62%           
=======================================
  Files         330      330           
  Lines       25784    25787    +3     
=======================================
+ Hits        16406    16408    +2     
- Misses       9378     9379    +1     

Impacted Files	Coverage Δ
src/rendering/RenderUtil.cc	38.90% <ø> (+0.06%)	⬆️
src/systems/sensors/Sensors.cc	65.73% <66.66%> (+<0.01%)	⬆️
src/systems/physics/Physics.cc	64.84% <0.00%> (-0.08%)	⬇️
...s/multicopter_motor_model/MulticopterMotorModel.cc	76.13% <0.00%> (ø)

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[azeey]

@chapulina can you give it another look. I merged other changes in ign-gazebo6 since you're approval. Also, it looks like there are a couple more test failures, but I can't see how they could be caused by this PR.