test with Ubuntu resolute

[scpeters]

Uses ubuntu:resolute docker tag in gazebo-tooling/action-gz-ci@2ca6856

remove gz packages from packages.apt and replaces them with equivalent entries in .github.ci/dependencies.yaml from https://github.com/gazebo-tooling/gazebodistro/blob/master/gz-math9.yaml

[scpeters]

I hadn't tried using .github/ci/dependencies.yaml before, so I tried adding to it here and removing from packages.apt to build everything from source inside action-gz-ci, but there is a line in action-gz-ci's entrypoint.sh that tries to install the contents of all packages.apt files of each dependency, without filtering out the packages already included in dependencies.yaml (rosdep supports this with --ignore-packages-from-source)