[build] Use MODULE.bazel for all dependencies #22338
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The WORKSPACE.bzlmod is no longer load-bearing, so as of this commit it should be possible to consume Drake as module external of other downstream projects (instead of as a repository external). Notable changes: Adjust the pkg_config and java repository rules to handle the new distinction between canonical vs apparent repository names. Adjust some of our hard-coded runfiles paths (header_lint test, wheel build snopt, drake_models parse_test) to align with the new canonical repository names. Adjust our lcm native code loader to accommodate the new runfiles layout. Add test coverage for EventLog (which uses a distinctive spelling of its import paths in upstream code). Adjust labels used by our (non-symbolic) macros to only ever refer to drake labels, not external labels. Textual macros resolve labels in the workspace context of the code calling them, not Drake. Therefore they must only ever refer to Drake, since Drake's externals are now invisible (by default) with bzlmod. We introduce Drake aliases for the externals so that we can use a safe labels in our macros. (This fix is only necessary for macros which we expect downstream code to call, i.e., macros without a "drake_..." prefix in their name. We still have plenty of other drake-specific macros that refer to non-drake labels, but that's not a problem.) The longer term fix for this will probably be switching from textual macros to symbolic macros, but we don't attempt that here. Adjust CMake logic to edit MODULE.bazel to opt-out of any overridden externals, so that the WORKSPACE.bzlmod replacements take effect. Document our stability promises for our module extension.
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Towards #20731.
The WORKSPACE.bzlmod is no longer load-bearing, so as of this commit it should be possible to consume Drake as module external of other downstream projects (instead of as a repository external).
See RobotLocomotion/drake-external-examples#348 for how to use this downstream.
This change is