Enforce package.xml format 3 Schema

[henningkayser]

This fixes the formatting for all package.xml files and enforces the format 3 ROS schema.
#697 should be merged first, then I will switch the target to main.

[tylerjw]

@henningkayser I merged the PR this depends on, please rebase this on main (and retarget the PR).

[codecov]

Codecov Report

Merging #779 (ee90e84) into main (6cdc62a) will increase coverage by 0.03%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #779      +/-   ##
==========================================
+ Coverage   55.57%   55.59%   +0.03%     
==========================================
  Files         198      198              
  Lines       21420    21420              
==========================================
+ Hits        11901    11907       +6     
+ Misses       9519     9513       -6     

Impacted Files	Coverage Δ
...e/collision_detection_fcl/src/collision_common.cpp	74.89% <0.00%> (-0.23%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	46.81% <0.00%> (+0.48%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	75.93% <0.00%> (+1.12%)	⬆️

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