Update lockfile formating

[ruffsl]

Update lockfile format to cleanly list versioned package dependencies for each workspace in a readable table format, and fix up environment so that rosdep correctly resolves apt installed dependencies.

[ruffsl]

This is a lot easier to read when debugging cache breaks, as well as when auditing our package dependency footprint:

cache_nonce
Release
1e632b11779dc9f8eb455cc054c8026127580b9802ff2a5c4fd7c5fc422b1d6d  /opt/ros_ws/lockfile.txt
ros_entrypoint
2021-06-09 19:01:39.000000000 +0000
49a1816fab98a9ff12ec5c0dd34a7bcb7b6248e5c75ee649441c762c48c4e7e8  /opt/ros_ws/lockfile.txt
vcs_export
repositories:
90712a086e39e431ea34650f0e37548527831a2ab58e25f0292b19448f80e079  /opt/underlay_ws/lockfile.txt
workspace_dependencies
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name           Version       Architecture Description
+++-==============-=============-============-=================================
ii  dpkg           1.19.7ubuntu3 amd64        Debian package management system
bed49e47c911c80f3cd0e060f5b654490a2006db91929d8d3dcf1ebc2e5f5ea8  /opt/underlay_ws/lockfile.txt
vcs_export
repositories:
22e83e13abe4ae1a3fd7c7569eb4ee8f3005d70aae0338ea6e5d3894d6a08a93  /opt/overlay_ws/lockfile.txt
workspace_dependencies
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name                                   Version                       Architecture Description
+++-======================================-=============================-============-=========================================================================================================================================================================================
ii  dpkg                                   1.19.7ubuntu3                 amd64        Debian package management system
ii  graphicsmagick-libmagick-dev-compat    1.4+really1.3.35-1            all          image processing libraries providing ImageMagick interface
ii  lcov                                   1.14-2                        all          Summarise Code coverage information from GCOV
ii  libboost-program-options-dev:amd64     1.71.0.0ubuntu2               amd64        program options library for C++ (default version)
ii  libboost-program-options1.71.0:amd64   1.71.0-6ubuntu6               amd64        program options library for C++
ii  libceres-dev                           1.14.0-4ubuntu1.1             amd64        nonlinear least squares minimizer (development files)
ii  libeigen3-dev                          3.3.7-2                       all          lightweight C++ template library for linear algebra
ii  libgraphicsmagick++1-dev               1.4+really1.3.35-1            amd64        format-independent image processing - C++ development files
ii  libqt5core5a:amd64                     5.12.8+dfsg-0ubuntu1          amd64        Qt 5 core module
ii  libqt5gui5:amd64                       5.12.8+dfsg-0ubuntu1          amd64        Qt 5 GUI module
ii  libqt5opengl5:amd64                    5.12.8+dfsg-0ubuntu1          amd64        Qt 5 OpenGL module
ii  libqt5widgets5:amd64                   5.12.8+dfsg-0ubuntu1          amd64        Qt 5 widgets module
ii  python3-pytest                         4.6.9-1                       all          Simple, powerful testing in Python3
ii  python3-yaml                           5.3.1-1ubuntu0.1              amd64        YAML parser and emitter for Python3
ii  python3-zmq                            18.1.1-3                      amd64        Python3 bindings for 0MQ library
ii  qtbase5-dev:amd64                      5.12.8+dfsg-0ubuntu1          amd64        Qt 5 base development files
ii  ros-rolling-action-msgs                1.0.3-1focal.20210603.002131  amd64        Messages and service definitions common among all ROS actions.
ii  ros-rolling-ament-cmake                1.1.4-1focal.20210506.150302  amd64        The entry point package for the ament buildsystem in CMake.
ii  ros-rolling-ament-cmake-core           1.1.4-1focal.20210506.144148  amd64        The core of the ament buildsystem in CMake.
ii  ros-rolling-ament-cmake-gtest          1.1.4-1focal.20210506.150303  amd64        The ability to add gtest-based tests in the ament buildsystem in CMake.
ii  ros-rolling-ament-cmake-pytest         1.1.4-1focal.20210506.150304  amd64        The ability to run Python tests using pytest in the ament buildsystem in CMake.
ii  ros-rolling-ament-cmake-python         1.1.4-1focal.20210506.145838  amd64        The ability to use Python in the ament buildsystem in CMake.
ii  ros-rolling-ament-copyright            0.10.6-1focal.20210506.150401 amd64        The ability to check source files for copyright and license information.
ii  ros-rolling-ament-lint-auto            0.10.6-1focal.20210506.150307 amd64        The auto-magic functions for ease to use of the ament linters in CMake.
ii  ros-rolling-ament-lint-common          0.10.6-1focal.20210506.151701 amd64        The list of commonly used linters in the ament buildsytem in CMake.
ii  ros-rolling-angles                     1.12.4-1focal.20210506.150406 amd64        This package provides a set of simple math utilities to work with angles.
ii  ros-rolling-behaviortree-cpp-v3        3.5.6-1focal.20210605.060759  amd64        This package provides the Behavior Trees core library.
ii  ros-rolling-bond                       3.0.1-3focal.20210603.002543  amd64        A bond allows two processes, A and B, to know when the other has terminated, either cleanly or by crashing.
ii  ros-rolling-bondcpp                    3.0.1-3focal.20210605.051030  amd64        C++ implementation of bond, a mechanism for checking when another process has terminated.
ii  ros-rolling-builtin-interfaces         1.0.3-1focal.20210603.001736  amd64        A package containing message and service definitions for types defined in the OMG IDL Platform Specific Model.
ii  ros-rolling-cv-bridge                  2.2.1-1focal.20210603.004522  amd64        This contains CvBridge, which converts between ROS2 Image messages and OpenCV images.
ii  ros-rolling-eigen3-cmake-module        0.1.1-2focal.20210506.151503  amd64        Exports a custom CMake module to find Eigen3.
ii  ros-rolling-gazebo-ros-pkgs            3.5.2-4focal.20210605.085934  amd64        Interface for using ROS with the Gazebo simulator.
ii  ros-rolling-geometry-msgs              2.2.3-1focal.20210603.002727  amd64        A package containing some geometry related message definitions.
ii  ros-rolling-image-transport            3.0.0-1focal.20210605.051731  amd64        image_transport should always be used to subscribe to and publish images.
ii  ros-rolling-laser-geometry             2.2.2-4focal.20210605.051736  amd64        This package contains a class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2.
ii  ros-rolling-launch                     0.17.0-1focal.20210506.150954 amd64        The ROS launch tool.
ii  ros-rolling-launch-ros                 0.14.2-1focal.20210605.044836 amd64        ROS specific extensions to the launch tool.
ii  ros-rolling-launch-testing             0.17.0-1focal.20210506.151505 amd64        A package to create tests which involve launch files and multiple processes.
ii  ros-rolling-launch-testing-ament-cmake 0.17.0-1focal.20210506.152456 amd64        A package providing cmake functions for running launch tests from the build.
ii  ros-rolling-lifecycle-msgs             1.0.3-1focal.20210603.001736  amd64        A package containing some lifecycle related message and service definitions.
ii  ros-rolling-map-msgs                   2.1.0-1focal.20210603.004704  amd64        This package defines messages commonly used in mapping packages.
ii  ros-rolling-message-filters            4.0.0-1focal.20210605.045120  amd64        A set of ROS2 message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.
ii  ros-rolling-nav-msgs                   2.2.3-1focal.20210603.003741  amd64        A package containing some navigation related message and service definitions.
ii  ros-rolling-ompl                       1.5.2-1focal.20210506.150207  amd64        OMPL is a free sampling-based motion planning library.
ii  ros-rolling-osrf-pycommon              0.2.1-1focal.20210506.150154  amd64        Commonly needed Python modules, used by Python software developed at OSRF.
ii  ros-rolling-pluginlib                  5.0.0-1focal.20210525.151443  amd64        The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.
ii  ros-rolling-rclcpp                     11.0.0-1focal.20210605.042106 amd64        The ROS client library in C++.
ii  ros-rolling-rclcpp-action              11.0.0-1focal.20210605.045118 amd64        Adds action APIs for C++.
ii  ros-rolling-rclcpp-lifecycle           11.0.0-1focal.20210605.045119 amd64        Package containing a prototype for lifecycle implementation
ii  ros-rolling-rclpy                      3.0.0-1focal.20210605.042904  amd64        Package containing the Python client.
ii  ros-rolling-resource-retriever         2.5.0-1focal.20210514.181938  amd64        This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory.
ii  ros-rolling-robot-state-publisher      2.4.3-1focal.20210605.055510  amd64        This package allows you to publish the state of a robot to tf2.
ii  ros-rolling-rosidl-default-generators  1.1.1-1focal.20210603.001553  amd64        A configuration package defining the default ROS interface generators.
ii  ros-rolling-rosidl-default-runtime     1.1.1-1focal.20210603.001553  amd64        A configuration package defining the runtime for the ROS interfaces.
ii  ros-rolling-rviz-common                8.6.0-2focal.20210605.060252  amd64        Common rviz API, used by rviz plugins and applications.
ii  ros-rolling-rviz-default-plugins       8.6.0-2focal.20210605.062524  amd64        Several default plugins for rviz to cover the basic functionality.
ii  ros-rolling-rviz-ogre-vendor           8.6.0-2focal.20210526.173749  amd64        Wrapper around ogre3d, it provides a fixed CMake module and an ExternalProject build of ogre.
ii  ros-rolling-rviz-rendering             8.6.0-2focal.20210526.180519  amd64        Library which provides the 3D rendering functionality in rviz.
ii  ros-rolling-sensor-msgs                2.2.3-1focal.20210603.003744  amd64        A package containing some sensor data related message and service definitions.
ii  ros-rolling-std-msgs                   2.2.3-1focal.20210603.002243  amd64        A package containing some standard message definitions.
ii  ros-rolling-std-srvs                   2.2.3-1focal.20210603.001737  amd64        A package containing some standard service definitions.
ii  ros-rolling-test-msgs                  1.0.3-1focal.20210603.002307  amd64        A package containing message definitions and fixtures used exclusively for testing purposes.
ii  ros-rolling-tf2                        0.18.0-1focal.20210603.004300 amd64        tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time.
ii  ros-rolling-tf2-geometry-msgs          0.18.0-1focal.20210605.055529 amd64        tf2_geometry_msgs
ii  ros-rolling-tf2-ros                    0.18.0-1focal.20210605.054819 amd64        This package contains the C++ ROS bindings for the tf2 library
ii  ros-rolling-tf2-sensor-msgs            0.18.0-1focal.20210605.060929 amd64        Small lib to transform sensor_msgs with tf.
ii  ros-rolling-visualization-msgs         2.2.3-1focal.20210603.003435  amd64        A package containing some visualization and interaction related message definitions.
ii  ros-rolling-yaml-cpp-vendor            7.1.0-1focal.20210506.150655  amd64        Wrapper around yaml-cpp, it provides a fixed CMake module and an ExternalProject build of it.
9efd0bdd2cf14621256a8a8dffa04971c8e9f170a3fd103e093173dfd7542e3e  /opt/overlay_ws/lockfile.txt

https://circle-production-customer-artifacts.s3.amazonaws.com/picard/5b21c78bcfe8df0013110d01/60c1446ca658b11f8aeb37b7-0-build/artifacts/opt/overlay_ws/lockfile.txt?X-Amz-Algorithm=AWS4-HMAC-SHA256&X-Amz-Date=20210609T224910Z&X-Amz-SignedHeaders=host&X-Amz-Expires=60&X-Amz-Credential=AKIAJR3Q6CR467H7Z55A%2F20210609%2Fus-east-1%2Fs3%2Faws4_request&X-Amz-Signature=d838148079f2fb3bbf821127335b6444b0748a5c72aac0ff4e1f5eea3658346c