fix fmt deprecation

[mosfet80]

Description

fix error: ‘join’ is not a member of ‘fmt’. Migrate to rcpputils

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

❌ Patch coverage is 0% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 46.14%. Comparing base (2002fb7) to head (38e9d25).

Files with missing lines	Patch %	Lines
...sistant/moveit_setup_framework/src/urdf_config.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3630      +/-   ##
==========================================
+ Coverage   46.11%   46.14%   +0.04%     
==========================================
  Files         726      726              
  Lines       59371    59372       +1     
  Branches     7614     7615       +1     
==========================================
+ Hits        27373    27393      +20     
+ Misses      31831    31813      -18     
+ Partials      167      166       -1     

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