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 83.66%. Comparing base (2d06bf7) to head (32a2df1).
Report is 22 commits behind head on gz-common5.

❗ Current head 32a2df1 differs from pull request most recent head 4b48926. Consider uploading reports for the commit 4b48926 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           gz-common5     #587   +/-   ##
===========================================
  Coverage       83.65%   83.66%           
===========================================
  Files              90       92    +2     
  Lines           10273    10288   +15     
===========================================
+ Hits             8594     8607   +13     
- Misses           1679     1681    +2     

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