Add package.xml, remove dependency on python3-yaml, and disable failing windows tests

[azeey]

🎉 New feature

Summary

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

I didn't find any use of python3-yaml, so I've removed it from .github/ci/packages.apt.

This is to test out using vendor packages to provide Gazebo packages to ROS users (see https://github.com/gazebo-tooling/release-tools/issues/1117).

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 58.62%. Comparing base (3fb524c) to head (076f4d1). Report is 3 commits behind head on gz-launch7.

:exclamation: Current head 076f4d1 differs from pull request most recent head 3d73c96. Consider uploading reports for the commit 3d73c96 to get more accurate results

Additional details and impacted files

```diff @@ Coverage Diff @@ ## gz-launch7 #249 +/- ## ============================================== + Coverage 57.80% 58.62% +0.81% ============================================== Files 4 3 -1 Lines 429 423 -6 ============================================== Hits 248 248 + Misses 181 175 -6 ```

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