Update URDF Robot version tag to 'tesseract_version' for ROS2 compatibilty

[marrts]

Recommended change per #937.

This will throw an error if you set the robot version greater than 1 (mimicking ROS2's behavior) and prompt the user to change to tesseract_version.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (4c930c5) 90.93% compared to head (31ae7bc) 90.91%.
Report is 2 commits behind head on master.

❗ Current head 31ae7bc differs from pull request most recent head 737db49. Consider uploading reports for the commit 737db49 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #979      +/-   ##
==========================================
- Coverage   90.93%   90.91%   -0.03%     
==========================================
  Files         280      280              
  Lines       15847    15855       +8     
==========================================
+ Hits        14411    14414       +3     
- Misses       1436     1441       +5     

see 2 files with indirect coverage changes

[Levi-Armstrong]

I think we need to keep version because it is part of the urdf schema, but adding the additional attribute makes sense to not cause conflicts.

[marrts]

I change

I think we need to keep version because it is part of the urdf schema, but adding the additional attribute makes sense to not cause conflicts.

I changed the wording a little bit.