Update pixi.toml with gz-sim9 and new ROS Humble packages on February 2025

[traversaro]

Several changes:

• Thanks to the recent ros-humble rebuild (Rebuild January 2025 - switch to rattler-build RoboStack/ros-humble#229) we now have all the ros2 packages required by both ROBOTOLOGY_USES_ROS2 and ROBOTOLOGY_USES_MOVEIT on all the platforms we support. This permits us to remove the separate between ros2 and ros2moveit pixi environments, and to enable the CI of ROBOTOLOGY_USES_MOVEIT on all operating systems. We can also add back the pcl = ">=1.11.1" and libopencv = ">=4.10.0" constraints in the ros2 pixi environment.
• Add swig = ">=4.2.1" constraint that is required by YARP 3.11
• Update dependencies of ROBOTOLOGY_USES_GZ from gz-sim8 (Gazebo Harmonic) to gz-sim9 (Gazebo Ionic).

[traversaro]

Interestingly, there is a glfw3 related error:

2025-02-21T17:17:59.5589970Z FAILED: src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o 
2025-02-21T17:17:59.5595974Z /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/bin/x86_64-conda-linux-gnu-c++ -DIDYNTREE_GLFW_TRY_WAYLAND_FIRST -DIDYNTREE_USES_ASSIMP -DIDYNTREE_USES_IRRLICHT -Didyntree_visualization_EXPORTS -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/core/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/.build/src/iDynTree/src/core -I/home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/model/include -I/home/runner/work/robotology-superbuild/robotology-superbuild/.build/src/iDynTree/src/model -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/eigen3 -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/irrlicht -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include -O3 -DNDEBUG -fPIC -Wall -Wextra -Woverloaded-virtual -pedantic -MD -MT src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o -MF src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o.d -o src/visualization/CMakeFiles/idyntree-visualization.dir/src/Visualizer.cpp.o -c /home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/src/Visualizer.cpp
2025-02-21T17:17:59.5602473Z In file included from /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/GLFW/glfw3native.h:119,
2025-02-21T17:17:59.5603335Z                  from /home/runner/work/robotology-superbuild/robotology-superbuild/src/iDynTree/src/visualization/src/Visualizer.cpp:36:
2025-02-21T17:17:59.5604381Z /home/runner/work/robotology-superbuild/robotology-superbuild/.pixi/envs/default/include/X11/extensions/Xrandr.h:32:10: fatal error: X11/extensions/randr.h: No such file or directory
2025-02-21T17:17:59.5605133Z    32 | #include <X11/extensions/randr.h>
2025-02-21T17:17:59.5605383Z       |          ^~~~~~~~~~~~~~~~~~~~~~~~
2025-02-21T17:17:59.5605621Z compilation terminated.

Based on https://conda-metadata-app.streamlit.app/Search_by_file_path?path=include%2FX11%2Fextensions%2Frandr.h, I guess we need to add the xorg-xorgproto.

[traversaro]

On Windows there is an interesting failure:

CMake Error at D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:233 (message):
  Could NOT find Python3 (missing: Python3_NumPy_INCLUDE_DIRS NumPy) (found
  version "3.13.2")
Call Stack (most recent call first):
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPackageHandleStandardArgs.cmake:603 (_FPHSA_FAILURE_MESSAGE)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPython/Support.cmake:4002 (find_package_handle_standard_args)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/cmake-3.31/Modules/FindPython3.cmake:602 (include)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake:22 (find_package)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
  D:/a/robotology-superbuild/robotology-superbuild/.pixi/envs/ros2/Library/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:286 (ament_execute_extensions)
  ros2_interfaces_ws/src/map2d_nws_ros2_msgs/CMakeLists.txt:45 (rosidl_generate_interfaces)

[traversaro]

The CI failures will be fixed by ami-iit/yarp-device-openxrheadset#60 .