[Epic] Fix package.xml and dependencies in general

[vexandmore]

Short Description

Currently, when setting up the repository, many packages have to be manually installed. Rosdep exists to handle this, but the dependencies are not properly declared in packages.xml to use this feature.

Acceptance Criteria

For each package, all dependencies installable by rosdep are declared in package.xml and rosdep will install them. For other packages, they should be declared in the docs for the package as well as the global README.md.

Each package can be its own issue; they should be created gradually.