Fix spirv-tools rules for RHEL (#29931)

It isn't clear from the Ubuntu package name, but 'spirv-tools' contains
development resources like unversioned SO libraries, headers, and CMake
modules. This change aligns the RHEL rule to include the additional
packages which provide those resources.

rosdep/base.yaml

@@ -7060,7 +7060,7 @@ spirv-tools:
   debian: [spirv-tools]
   fedora: [spirv-tools, spirv-tools-devel, spirv-tools-libs]
   gentoo: [dev-util/spirv-tools]
-  rhel: [spirv-tools]
+  rhel: [spirv-tools, spirv-tools-devel, spirv-tools-libs]
   ubuntu:
     '*': [spirv-tools]
     bionic: null