Add debug msg to log auto computed inertial values

[iche033]

🎉 New feature

Summary

When //inertial/@auto is set to true, the link's inertial values are auto-computed and the values are stored the link SDF DOM and also to the ECM. However, without using the Gazebo GUI, there's currently no easy method to inspect the computed inertial values (you could request gazebo to save the SDF with the computed inertial values). This PR adds debug msgs to log the auto inertial values to console.

The other place that I could put these msgs is in sdformat but this is not desirable as there are other consumers of sdformat who may not want these msgs in their console.

Test it

gz sim -v 4 auto_inertia_pendulum.sdf

example output (near the top):

(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:544] Link has auto-inertial enabled: pendulum::upper_link
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:546]   pose: -0.0333333 0 0.208333 0 0 0
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:547]   mass: 113.097
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:548]   ixx iyy izz: 13.9879 14.4749 1.05243
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:550]   ixy ixz iyz: 0 -0.785397 0
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:544] Link has auto-inertial enabled: pendulum2::upper_link
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:546]   pose: -0.000480769 0 0.975962 0 0 0
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:547]   mass: 98.0177
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:548]   ixx iyy izz: 2.26657 2.74485 0.968373
(2025-01-30 19:11:28.842) [debug] [SdfEntityCreator.cc:550]   ixy ixz iyz: 0 -0.0459894 0

Checklist

• 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)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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