brew no longer allows ~ in version strings

[scpeters]

I noticed brew audit failures in #2389:

osrf/simulation/[email protected]
    * Stable: version 6.10.0~20211005~d2b6ee08a60d0dbf71b0f008cd8fed1f611f6e24 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-fuel-tools9
    * Stable: version 9.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-gui8
    * Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-harmonic
    * Stable: version 1.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-launch7
    * Stable: version 7.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-msgs10
    * Stable: version 10.0.0~pre3 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-physics7
    * Stable: version 7.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-rendering8
    * Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-sensors8
    * Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-sim8
    * Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/gz-transport13
    * Stable: version 13.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/ogre2.1
    * Stable: version 2.0.99999~pre0~0~[20](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:21)180616~06a386f does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/ogre2.2
    * Stable: version 2.2.6+20[21](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:22)1021~312bf40 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  osrf/simulation/sdformat14
    * Stable: version 14.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 6.10.0~20211005~d2b6ee08a60d0dbf71b0f008cd8fed1f611f6e[24](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:25) does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,1[27](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:28)}$
  Error: Stable: version 9.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 1.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 7.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 10.0.0~pre3 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 7.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 8.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 13.0.0~pre1 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 2.0.99999~pre0~0~20180616~06a386f does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 2.2.6+20211021~[31](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:32)2bf[40](https://github.com/osrf/homebrew-simulation/actions/runs/6090415938/job/16525198188?pr=2389#step:9:41) does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: Stable: version 14.0.0~pre2 does not match ^[a-zA-Z0-9_][a-zA-Z0-9._-]{0,127}$
  Error: 14 problems in 14 formulae detected.

I believe this is caused by a policy change in brew audit in Homebrew/brew#15936 that doesn't like our use of ~ characters in prerelease version strings. I'll see if it works to change them to - instead.

[scpeters]

this audit has been relaxed in Homebrew/brew#15972

closing