Fix urdf include

[sjahr]

Description

Based on #3003

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[rhaschke]

Now, it's only srdfdom, which still seems to use the deprecated headers.

[rhaschke]

Do we need the selective include here in the moveit2 repo?
As far as I understood, that was only necessary for srdfdom, which only has a single branch for ros2. Here, we have different branches for rolling and older releases.

[sjahr]

Closed in favor of #3003