Backport pybind11 warning fix

[scpeters]

Backport #1389 to garden

Fixes a compiler warning on garden.

• https://build.osrfoundation.org/view/gz-garden/job/sdformat-ci-sdf13-homebrew-amd64/37/clang/

Original PR description:

Fix warning with pybind11 2.12

Summary

Version 2.12 of pybind11 was recently merged to homebrew-core:

• pybind11 2.12.0 Homebrew/homebrew-core#167370

This release includes pybind/pybind11#4772, which causes a compiler warning in sdformat:

• https://build.osrfoundation.org/view/gz-harmonic/job/sdformat-ci-sdf14-homebrew-amd64/37/clang/

python/src/sdf/_gz_sdformat_pybind11.cc:153:25: warning: 'operator()' is deprecated: Please use py::set_error() instead (https://github.com/pybind/pybind11/pull/4772) [-Wdeprecated-declarations]
      sdfErrorsException(e.what());
                        ^
/usr/local/include/pybind11/pybind11.h:2623:5: note: 'operator()' has been explicitly marked deprecated here
    PYBIND11_DEPRECATED("Please use py::set_error() instead "
    ^
/usr/local/include/pybind11/detail/common.h:202:43: note: expanded from macro 'PYBIND11_DEPRECATED'
#    define PYBIND11_DEPRECATED(reason) [[deprecated(reason)]]
                                          ^
1 warning generated.

This adds a version check and a fix for newer versions of pybind11.

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)
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