bazel_configure.py needs update to reflect the latest changes

[huijunwu]

Is your feature request related to a problem? Please describe.
When building from a fresh Ubuntu 20.04, some packages are required for bazel build. But they are not examined by bazel_configure.py

Describe the solution you'd like
Add the following package check in bazel_configure.py

• ant libcppunit-dev pkg-config: for zookeeper c++ client 3.5.8
• python-is-python3 python3-dev tree: for python and heronpy
• zip : for generating document

These are for Ubuntu 20.04. The other platforms need more investigation.

Describe alternatives you've considered
NA

Additional context
#3555 (comment)

[joshfischer1108]

Does this still need to be addressed before we create a new release candidate?