[parsing] Improve parser_manual_test

[rpoyner-tri]

These changes push the manual test in the direction of being a useful tool for model checking and parser development.

• work more like //tools:model_visualizer
  • Support ROS_PACKAGE_PATH
  • Change the input type to URL
• Support strict parsing as an option
• Improve diagnostics output formatting

---

This change is 

[rpoyner-tri]

+@jwnimmer-tri for sole review
+(status: single reviewer ok)
+(release notes: none)

Reviewable status: LGTM missing from assignee jwnimmer-tri(platform) (waiting on @jwnimmer-tri)

[jwnimmer-tri]

Reviewed 1 of 1 files at r1, all commit messages.
Reviewable status: 2 unresolved discussions (waiting on @rpoyner-tri)

---

multibody/parsing/test/parser_manual_test.cc line 44 at r1 (raw file):

  std::vector<ModelInstanceIndex> models;
  try {
    models = parser.AddModelsFromUrl(argv[1]);

BTW CI is failing because BUILD.bazel is calling this with a non-URL.

Possibly the tool should recognize URL vs non-URL on the command line (supporting both).

---

multibody/parsing/test/parser_manual_test.cc line 46 at r1 (raw file):

    models = parser.AddModelsFromUrl(argv[1]);
  } catch (const std::exception& e) {
    drake::log()->error(e.what());

I would think we should return 1 to the terminal in this case. If there are errors, we don't want exitcode 0.

[jwnimmer-tri]

Reviewed 1 of 1 files at r2, all commit messages.
Reviewable status: complete! all discussions resolved, LGTM from assignee jwnimmer-tri(platform) (waiting on @rpoyner-tri)