Consider using Ignition Common's Console

libSDFormat's [Console](https://github.com/osrf/sdformat/blob/master/include/sdf/Console.hh) class provides a lot of the same functionality as [ignition::common::Console](https://github.com/ignitionrobotics/ign-common/blob/master/include/ignition/common/Console.hh).

The same way that SDF's custom math types were deprecated in favor of Ignition Math types (https://github.com/osrf/sdformat/issues/91), I think it could be beneficial to deprecate SDF's custom console to reduce duplication from Ignition. Ignition Common's core component shouldn't bring any new dependencies to SDFormat, I believe it's largest dependencies are `ign-math` and `tinyxml2`.

Compare libSDFormat's Console class in include/sdf/Console.hh with ignition::common::Console in the linked Ignition Common header. Start by reviewing the existing console APIs and the dependency concerns described in the issue. Done would require a decided, scoped deprecation and migration plan, including its dependency impact.

Written by the indexing model from the issue text.