Audit of Moveit Container Target Packages

[Bckempa]

Discovered during investigation of #228, some packages are being built seemingly unintentionally (e.g., moveit_ros_trajectory_cache) while other are requested but not being built (e.g., ignition/ignition_math6_vendor) and other high-resource system packages are included which may not be appropriate for a stack image (e.g., firefox).

Survey the downstream users and determine the correct package inclusion scope for this stack and document the decision as well as implement it. This may be required to resolve #230.

Using this more complete method of populating the rosinstall_generator target list covers most (though not all) of the pacages listed in moveit2-pkgs.txt, I wonder how many were put there to cover for this bug, like the additions from #224.

Additionally, some of the explicitly requested packages from the .txt file like ignition/ignition_math6_vendor and navigation_msgs are being ignored as unreleased in jazzy.

As tempting as it is, I won't try to slim down the list as part of this ticket. It needs to be done (why are we installing rviz and Firefox?) but I'm not familiar enough with moveit or the down-stream consumers of this image to make cuts.

Originally posted by @Bckempa in #228

[ivanperez-keera]

What's the success criteria here? How can we check that this is accomplished?

[Bckempa]

The long term result is we need a principled way of selecting the package and skip lists, tooling to automatically flag when they fall out of date, and potentially some feature additions to the infrastructure tooling but I tired to break all that up into some of the smallest, most actionable steps. In this case we need to look at the demos building on the moveit container and determine which packages we are actually trying to build, document that, and remove the dependencies being installed for packages we aren't building.