build: remove unused <depend> in package.xml files

[VRichardJP]

Description

Cleaned all unused <depend> reported by the ad-hoc unused_deps.sh script.

In most cases, removing the <depend> line is enough. But sometimes downstream packages are impacted and must add the missing dependency.
Sometimes <depend> are just <build_depend> or <test_depend>.

Related links

autowarefoundation/autoware#3468

Tests performed

Can compile with tests and run demo with the planning simulator.

Notes for reviewers

Interface changes

Effects on system behavior

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• I've confirmed the contribution guidelines.
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• The PR follows the pull request guidelines.
• The PR has been properly tested.
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The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
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After all checkboxes are checked, anyone who has write access can merge the PR.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.