Fix TopicInfo deprecation warnings in Harmonic

[iche033]

🦟 Bug fix

Summary

Updated code to use the new TopicInfo function introduced in gazebosim/gz-transport#384. The existing one is deprecated.

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.

[codecov]

Codecov Report

Merging #1922 (f3d4074) into main (2d19f93) will increase coverage by 0.20%.
The diff coverage is 72.22%.

❗ Current head f3d4074 differs from pull request most recent head d828658. Consider uploading reports for the commit d828658 to get more accurate results

@@            Coverage Diff             @@
##             main    #1922      +/-   ##
==========================================
+ Coverage   64.26%   64.47%   +0.20%     
==========================================
  Files         340      341       +1     
  Lines       26962    27143     +181     
==========================================
+ Hits        17328    17500     +172     
- Misses       9634     9643       +9     

Impacted Files	Coverage Δ
include/gz/sim/ServerConfig.hh	100.00% <ø> (ø)
include/gz/sim/SystemLoader.hh	100.00% <ø> (ø)
include/gz/sim/Util.hh	100.00% <ø> (ø)
include/gz/sim/components/DetachableJoint.hh	100.00% <ø> (ø)
...nclude/gz/sim/components/ExternalWorldWrenchCmd.hh	100.00% <ø> (ø)
include/gz/sim/components/LevelBuffer.hh	100.00% <ø> (ø)
include/gz/sim/components/LevelEntityNames.hh	100.00% <ø> (ø)
include/gz/sim/components/PerformerAffinity.hh	100.00% <ø> (ø)
include/gz/sim/components/PerformerLevels.hh	100.00% <ø> (ø)
include/gz/sim/rendering/RenderUtil.hh	100.00% <ø> (ø)
... and 79 more

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