[ros2doctor] Check for deprecated packages

[claireyywang]

Closes feature request on #343, this PR checks locally installed package versions against ones on rosdistro, and warns users about deprecated packages. Rebased PR from #356.

Expected output of ros2 doctor in Eloquent:

$ ros2 doctor
/home/claire/ros2_eloquent/install/ros2doctor/lib/python3.6/site-packages/ros2doctor/api/format.py: 76: UserWarning: Cannot find required versions of packages: yaml_cpp_vendor ros1_bridge interactive_markers robot_state_publisher kdl_parser urdf turtlesim rqt_top rqt_srv rqt_shell rqt_service_caller rqt_reconfigure rqt_py_console rqt_publisher rqt_plot rqt_msg rqt_console rqt_graph rclpy example_interfaces unique_identifier_msgs uncrustify_vendor laser_geometry tlsf pluginlib test_security test_rclcpp test_quality_of_service test_launch_testing test_launch_ros test_interface_files test_communication test_cli_remapping test_cli spdlog_vendor rmw_implementation rosidl_runtime_py ros_environment rcutils rcpputils python_qt_binding python_cmake_module class_loader osrf_pycommon message_filters libyaml_vendor eigen3_cmake_module console_bridge_vendor ament_package

All 4 checks passed

Expected output of ros2 doctor -r in Eloquent:

  PACKAGE VERSIONS
rviz_visual_testing_framework             : required=7.0.3, local=7.0.3
rviz2                                     : required=7.0.3, local=7.0.3
rviz_default_plugins                      : required=7.0.3, local=7.0.3
rviz_common                               : required=7.0.3, local=7.0.3
ros2bag                                   : required=0.2.4, local=0.2.4
rosbag2_transport                         : required=0.2.4, local=0.2.4
rosbag2_storage_default_plugins           : required=0.2.4, local=0.2.4
rosbag2_converter_default_plugins         : required=0.2.4, local=0.2.4
rosbag2                                   : required=0.2.4, local=0.2.4
rosbag2_storage                           : required=0.2.4, local=0.2.4
yaml_cpp_vendor                           : required=, local=7.0.0
ros1_bridge                               : required=, local=0.8.1
interactive_markers                       : required=, local=2.0.1
common_interfaces                         : required=0.8.1, local=0.8.1
visualization_msgs                        : required=0.8.1, local=0.8.1
dummy_robot_bringup                       : required=0.8.4, local=0.8.4
robot_state_publisher                     : required=, local=2.3.1
kdl_parser                                : required=, local=2.2.0
urdf                                      : required=, local=2.2.0
turtlesim                                 : required=, local=1.1.0

[claireyywang]

@tfoote in case you're interested

[jacobperron]

I've done another pass.

[jacobperron]

LGTM with green CI. Two minor suggestions.

[claireyywang]

Linux
LInux-aarch64
OSX
Windows