Remove indirect dependencies

[azeey]

🦟 Bug fix

Summary

I noticed that we have a number of dependencies listed in package.xml and .github/ci/packages.apt that are not direct dependencies of gz-launch, i.e, none of the gz-launch code includes headers or links against libraries from these libraries.

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[azeey]

The Ubuntu CI GitHub action is failing due to an issue with the action script itself. Fix in https://github.com/gazebo-tooling/action-gz-ci/pull/75