[Bug]: Nested drone SDFs in Gazebo simulation

[hmer101]

Describe the bug

Cannot connect to drone models when they are nested in higher-level SDF models in a Gazebo simulation. This is caused by the drone names in GZBridge.cpp not expecting to have a higher-level model name prepended. This specifically causes problems with the GZMixingInterfaceESC and GZMixingInterfaceServo classes and in the GZBridge::poseInfoCallback name check.

A full description of the error and the debugging process can be found on the forums here.

To Reproduce

1. Set up an x500 (or other) drone in a nested SDF model in the simulation>gz>worlds folder.
2. Following these instructions, use the PX4_GZ_MODEL_NAME argument to connect to an existing x500 drone model in Gazebo (sitl simulation).
3. Attempt to takeoff in sitl using 'commander takeoff'.
4. See issue - arming fails.

Expected behavior

Drone takes off regardless of how many SDF models it is nested within.

Screenshot / Media

See here for screenshots.

Flight Log

https://logs.px4.io/plot_app?log=54a64667-8ec9-4d74-b56f-45f5c3811894

Software Version

Version v1.14.0beta2, main branch commit: a6d2c2cf5e21ecdad8d737c31de81fab128898c5.

Flight controller

Gazebo sitl simulation

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response