Prepare for 10.1.0~pre1 Release

[azeey]

🎈 Release

Preparation for 10.1.0~pre1 release.

Comparison to 10.0.0: gz-msgs10_10.0.0...gz-msgs10

Needed by gazebosim/gz-sim#2286

Checklist

• Asked team if this is a good time for a release
• There are no changes to be ported from the previous major version
• No PRs targeted at this major version are close to getting in
• Bumped minor for new features, patch for bug fixes
• Updated changelog
• Updated migration guide (as needed)
• Link to PR updating dependency versions in appropriate repository in gazebo-release (as needed):

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

All modified and coverable lines are covered by tests ✅

Comparison is base (a97d59b) 97.67% compared to head (0531809) 97.67%.

Additional details and impacted files

@@            Coverage Diff             @@
##           gz-msgs10     #417   +/-   ##
==========================================
  Coverage      97.67%   97.67%           
==========================================
  Files             27       27           
  Lines           1163     1163           
==========================================
  Hits            1136     1136           
  Misses            27       27           

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