Refactor acoustic comms

[caguero]

We should use as much as we can the comms infrastructure from Gazebo and move the acoustic comms model upstream.

[adityapande-1995]

1. Acoustic comms to gz-sim :

• Acoustic comms plugin gazebosim/gz-sim#1608

2. Example world with multiple LRAUVs (working locally) :

• Acoustic comms example world gazebosim/gz-sim#1666
• Acoustic comms example world gazebosim/gz-sim#1693

3. Refactor osrf/lrauv repo with to use acoustic comms in gz-sim :

• Acoustic comms refactoring #232

4. Test case with multiple LRAUVs :

• Added integration test using multiple lrauv vehicles #243

[adityapande-1995]

Cherry pick the plugin and exmaple demo to garden :

• Cherry pick acoustic comms to gz-sim7 gazebosim/gz-sim#1704

To main (Gazebo H):

• Forward port: Acoustic comms demo gazebosim/gz-sim#1740