Go SDK: Improve error message when a filesystem scheme is not found

[gonzojive]

Example old message:

panic: file system scheme "default" not registered

Example new message:

panic: file system scheme "default" not registered for "/tmp/fake.txt": Consider adding the following import to your program to register an implementation for "default":
  import _ "github.com/apache/beam/sdks/v2/go/pkg/beam/io/filesystem/local"

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[damccorm]

Nice! Thanks for the contribution

[github-actions]

R: @lostluck for final approval

[lostluck]

I like this! A bit of indirect coupling but it's easy enough for us to keep the map up to date if others are created. Thank you for the contribution!