initialize pulsar cluster metadata failed, can;t recognize ipv6 ip and port

**Describe the bug**
when I build a new pulsar cluster, but initialize metadata failed, logs show an error that ipv6 ip is Invalid hostname.

logs (I use x to replace some character):
```
2022-04-21T17:55:33,814+0800 [main-EventThread] INFO org.apache.zookeeper.ClientCnxn - EventThread shut down for session: 0x300197585c701d9
Exception in thread "main" java.lang.IllegalArgumentException: Invalid hostname : [2409:xxxx:xxxx::1:xxxx:0919]:2181
at org.apache.bookkeeper.common.net.ServiceURI.validateHostName(ServiceURI.java:220)
at org.apache.bookkeeper.common.net.ServiceURI.lambda$create$0(ServiceURI.java:201)
at java.util.stream.ReferencePipeline$3$1.accept(ReferencePipeline.java:193)
at java.util.ArrayList$ArrayListSpliterator.forEachRemaining(ArrayList.java:1382)
at java.util.stream.AbstractPipeline.copyInto(AbstractPipeline.java:481)
at java.util.stream.AbstractPipeline.wrapAndCopyInto(AbstractPipeline.java:471)
at java.util.stream.ReduceOps$ReduceOp.evaluateSequential(ReduceOps.java:708)
at java.util.stream.AbstractPipeline.evaluate(AbstractPipeline.java:234)
at java.util.stream.ReferencePipeline.collect(ReferencePipeline.java:499)
at org.apache.bookkeeper.common.net.ServiceURI.create(ServiceURI.java:202)
at org.apache.bookkeeper.common.net.ServiceURI.create(ServiceURI.java:151)
at org.apache.pulsar.PulsarClusterMetadataSetup.main(PulsarClusterMetadataSetup.java:225)
```

**To Reproduce**
Pulsar Version:2.9.2 (it use bookkeeper 4.14.4)
Zk can be connected.
Use Pulsar script `bin/pulsar`, then run command:
```
bin/pulsar initialize-cluster-metadata \
--cluster pulsar2921 \
--zookeeper [2409:xxxx:xxxx::1:xxxx:0919]:2181/pulsar/pulsar2921 \
--configuration-store [2409:xxxx:xxxx::1:xxxx:0919]:2181/pulsar/pulsar2921 \
--web-service-url http://brokerpulsar:8080/ \
--broker-service-url pulsar://brokerpulsar:6650/
```

**Expected behavior**
A issue and PR has been push in apache/bookkeeper, https://github.com/apache/bookkeeper/issues/3287
we use pulsar in ipv6, need fix this bug soon.
thanks a log.

Start with org.apache.bookkeeper.common.net.ServiceURI.java at validateHostName and create, then trace the invocation from PulsarClusterMetadataSetup.java:225 and the bin/pulsar initialize-cluster-metadata command. Reproduce with the IPv6 ZooKeeper and configuration-store URLs shown, and confirm that cluster metadata initialization accepts the address without the Invalid hostname exception.

Written by the indexing model from the issue text.