Add mechanism to disable workaround for dependency groups

[cottsay]

See ros-infrastructure/catkin_pkg#369

• Linux
• Linux-aarch64
• Windows

[emersonknapp]

Is this all right to backport to Jazzy & Humble?
Here is me trying it, but I'm not sure if there are some considerations i might be missing

@Mergifyio backport jazzy humble

[cottsay]

There isn't a particularly great reason to backport this. We still aren't fully utilizing it in any of our tooling, so this has only been used for experiments thus far. That said, I don't see any harm in backporting it either.

[emersonknapp]

In all my CIs over the last few years I've had to add really explicit rosdep skip-keys for all the variations on Connext, rmw_connext, etc. But if instead I have this in the package.xml, I can set the environment variable and am good to go. Largely because we are building rmw_implementation from source on a fork https://github.com/robograph-project/rmw_implementation that I'm trying to keep as minimally different as possible.