Packaged runtime image should not install build tools/dependencies

[emersonknapp]

Description

The runtime image created by PackageRuntimeImageStage currently uses the build/sysroot environment as the base layer. This means that the build tools and build dependencies are installed in this runtime, taking up extra space that is not needed when deploying the built application.

Related Issues

N/A

Completion Criteria

• Runtime image only has runtime dependencies and the build, with no extraneous installed software

Implementation Notes / Suggestions

This will likely need to be implemented as two independent upgrades

1. Separate out the "sysroot" environment from the "build" environment, use the sysroot for the runtime base
2. Figure out how to only collect/install run_depends in the rosdep collection to create an even more minimal sysroot. Currently running rosdep install does not differentiate between the types of dependencies

Testing Notes / Suggestions

This will be an optimization, we can view the uploaded metrics (via Action artifacts) to see if an implementation makes the size of the runtime image decrease over the baseline value on master. This probably does not require a dedicated automated test.