Build/install wheel for Python packages

[mikepurvis]

Addresses another bit of spam we encountered migrating our ROS 1 codebase to Python 3.11:

/nix/store/yvhwsfbh4bc99vfvwpaa70m4yng4pvpz-python3-3.11.8/lib/python3.11/distutils/cmd.py:62: SetuptoolsDeprecationWarning: setup.py install is deprecated.
!!

        ********************************************************************************
        Please avoid running ``setup.py`` directly.
        Instead, use pypa/build, pypa/installer or other
        standards-based tools.

        See https://blog.ganssle.io/articles/2021/10/setup-py-deprecated.html for details.
        ********************************************************************************

!!
  self.initialize_options()

I don't expect this to be accepted as it's a pretty significant change in operations for catkin and possibly even breaks core functionality such as the develspace (though we don't care as we now use colcon everywhere anyway). I'm offering it largely as a conversation piece to understand from the community if there is any interest in "modernizing" catkin's interface to Python in this way, and if so is calling the CLI interface to pypa/build and pip the correct way to go about it, or are there programmatic APIs that would be more logical to use? If we only want to continue supporting setuptools, then we can obviously use setuptools.build_meta, but if we're going to pay the cost of a wheel round trip anyway, why not put us on the path to working with pyproject-only packages too?

On the colcon side, there's been some lively discussion going on for a while in colcon/colcon-core#208 and colcon/colcon-core#454.

[mikepurvis]

I tested various combinations of the --root, --target, and --prefix options available in pip (see https://stackoverflow.com/a/53870246/109517) and the --root + --user + PYTHONUSERBASE route seems the least hacky.

[mikepurvis]

This might also be over the top to be involving pip here when it could be as simple as reaching into setuptools to invoke the install/run method:

https://github.com/pypa/setuptools/blob/6ee23bf0579c52e1cbe7c97fc20fd085ff2a25c7/setuptools/command/install.py#L78-L89

Or using the new pypa/installer method as suggested in the original warning message: https://installer.pypa.io/en/stable/

[mikepurvis]

Probably need a dep here for pip too; on NixOS at least neither the module nor executable is bundled with Python: https://search.nixos.org/packages?query=pip