Add package.xml

[azeey]

🎉 New feature

Summary

Add package.xml based on dependencies found in .github/ci/packages.

This is to test out using vendor packages to provide Gazebo packages to ROS users (see gazebo-tooling/release-tools#1117).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 98.19%. Comparing base (1939fb0) to head (f55dc45).
Report is 6 commits behind head on gz-msgs10.

❗ Current head f55dc45 differs from pull request most recent head 923b0a2. Consider uploading reports for the commit 923b0a2 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           gz-msgs10     #432   +/-   ##
==========================================
  Coverage      98.19%   98.19%           
==========================================
  Files             27       27           
  Lines           1166     1166           
==========================================
  Hits            1145     1145           
  Misses            21       21           

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