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 87.74%. Comparing base (eac2e69) to head (54ac4e3).
Report is 14 commits behind head on gz-transport13.

❗ Current head 54ac4e3 differs from pull request most recent head e755993. Consider uploading reports for the commit e755993 to get more accurate results

Additional details and impacted files

@@                Coverage Diff                 @@
##           gz-transport13     #485      +/-   ##
==================================================
+ Coverage           87.69%   87.74%   +0.04%     
==================================================
  Files                  59       59              
  Lines                5704     5710       +6     
==================================================
+ Hits                 5002     5010       +8     
+ Misses                702      700       -2     

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