Update Camera Intrinsics in camera_info topic

[adityapande-1995]

🦟 Bug fix

This is a copy of #256 by @deepanshubansal01 with the merge conflicts and signoff errors resolved. The original PR was approved.

Fixes gazebosim/gz-sim#705

Summary

This PR solves the camera intrinsics not being reflected properly in /camera_info topic when the <intrinsics> tag is not provided. The PR uses the CameraIntrinsicMatrix() from gz-rendering package to get the camera intrinsics and update the sdf DOM object and /camera_info topic.

Depends on

gazebosim/gz-rendering#700

Checklist

• Signed all commits for DCO
• Added tests
• 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)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[ahcorde]

LGTM with green CI, but CI is failing https://github.com/gazebosim/gz-sensors/runs/8163139917?check_suite_focus=true

[adityapande-1995]

LGTM with green CI, but CI is failing https://github.com/gazebosim/gz-sensors/runs/8163139917?check_suite_focus=true

It was due to this pending PR : gazebosim/gz-rendering#700

[adityapande-1995]

@osrf-jenkins retest this please

[azeey]

This needs dependency versions bumped for gz-rendering.

[adityapande-1995]

Closing in favour of #281