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 gazebo-tooling/release-tools#1117).

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

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

❗ 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

@@              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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