Pin bazel version to 5.2.0 to work around drake#17763

scripts/setup/linux/ubuntu/focal/install_prereqs

@@ -84,9 +84,12 @@ apt-key adv --fetch-keys https://bazel.build/bazel-release.pub.gpg
 echo 'deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8' \
   > /etc/apt/sources.list.d/bazel.list
 
+# TODO(drake#17763):  Bazel is pinned here because Bazel 5.3.0 broke the way
+# we do LCM builds.  This should be reverted when Bazel fixes the problem or
+# when Drake finds a workaround to it.
 apt-get update
 apt-get install --no-install-recommends $(cat <<EOF
-  bazel
+  bazel-5.2.0
   clang-format-12
   cmake
   coinor-libclp-dev