Replace urdf_world/types.h with urdf_model/types.h

[rhaschke]

Adaption for ros/urdfdom_headers#33

[sloretz]

Thanks for the PR and your patience @rhaschke . IIUC this one requires ros/urdfdom_headers#33 so that including urdf_model/types.h is enough to get the ModelInterfaceSharedPtr declaration. That change isn't going to be available in Noetic since Noetic uses the system package of urdfdom_headers https://index.ros.org/d/liburdfdom-headers-dev/ . I don't think we can release this into Noetic, so I'm going to close this one.