Bump msgs and transport version in Harmonic

[iche033]

🎉 New feature

Summary

Bumping to use the new msgs and transport versions in Harmonic, msgs10 and transport13

Part of gazebo-tooling/release-tools#878

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)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #517 (5371f05) into main (91ed341) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main     #517   +/-   ##
=======================================
  Coverage   68.30%   68.30%           
=======================================
  Files          45       45           
  Lines        5038     5038           
=======================================
  Hits         3441     3441           
  Misses       1597     1597           

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[iche033]

@osrf-jenkins run tests please

[iche033]

CIs look good now. This PR is ready for review