Remove unused libyaml and libdl2 dependencies

[mwoehlke-kitware]

Toward #17161.

This change is 

[mwoehlke-kitware]

@drake-jenkins-bot linux-focal-unprovisioned-gcc-bazel-experimental-everything-release please
@drake-jenkins-bot linux-jammy-unprovisioned-clang-bazel-experimental-everything-release please
@drake-jenkins-bot linux-jammy-unprovisioned-gcc-bazel-experimental-everything-release please
@drake-jenkins-bot mac-x86-monterey-unprovisioned-clang-cmake-experimental-everything-release please

+@svenevs for feature review, please. (Does this seem like sufficient coverage for pre-merge?)

[jwnimmer-tri]

There is no direct CI coverage of the binary_distribution text files, since the source_distribution usually trumps them anyway and we never install "binary" on their own (since by its nature, Drake CI is always building from source). The closest we have to CI coverage are the drake-external-examples jobs, but that code currently forks the package lists into its git tree, instead of using the list embedded in the packages it downloads, so you'd need to do weird hijinks there to get it testing what you want it to test.

That's all a bit of a hassle.

To me, testing locally manually starting from an empty Docker image would be easiest:

• Boot an empty Docker (once on Focal, and once on Jammy).
• In that container, run the version of binary_distribution/install_prereqs.sh from this PR. Notably the binary script, not the source one.
• Unpack last night's nightly tgz release (https://drake.mit.edu/from_binary.html) into the container.
• Try import pydrake.all. If there are missing shared libraries, it will complain.

[mwoehlke-kitware]

... testing locally manually ...

Done. No import errors.

[svenevs]

@drake-jenkins-bot linux-focal-unprovisioned-gcc-bazel-experimental-snopt-mosek-packaging please.
@drake-jenkins-bot linux-jammy-unprovisioned-gcc-bazel-experimental-snopt-mosek-packaging please.

These jobs are additionally needed to evaluate the changes here, the contents of setup/ubuntu/packages-* in this PR change the final packaged dependencies.

[svenevs]

+@jwnimmer-tri for platform review, per schedule, please.

To me, testing locally manually starting from an empty Docker image would be easiest:

• Boot an empty Docker (once on Focal, and once on Jammy).
• In that container, run the version of binary_distribution/install_prereqs.sh from this PR. Notably the binary script, not the source one.
• Unpack last night's nightly tgz release (https://drake.mit.edu/from_binary.html) into the container.
• Try import 1pydrake.all`. If there are missing shared libraries, it will complain.

Feature review repeated these steps and they were successful. I also confirmed from a fresh macOS brew state that libyaml can be removed (this was never tracked anywhere, it is OK for this PR to remove it).

@mwoehlke-kitware I added more information on how to do this package analysis as you finish off the ticket in #17161 (comment)

@jwnimmer-tri there are some new potential issues from this analysis, but none relate to this PR. shlibs:Depends vs our packages here, removing libdl2 and libyaml-cpp-dev is A-OK.

Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: 1 unresolved discussion, LGTM missing from assignee jwnimmer-tri(platform), missing label for release notes (waiting on @jwnimmer-tri and @mwoehlke-kitware)

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-- commits line 2 at r1:
nit: on squash perhaps state them explicitly (libyaml and libdl)? Remove unused libyaml and libdl dependencies?

[jwnimmer-tri]

platform.

Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status: 1 unresolved discussion, missing label for release notes (waiting on @mwoehlke-kitware)

[svenevs]

Reviewed all commit messages.
Reviewable status: missing label for release notes (waiting on @mwoehlke-kitware)

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-- commits line 2 at r1:

Previously, svenevs (Stephen McDowell) wrote…

nit: on squash perhaps state them explicitly (libyaml and libdl)? Remove unused libyaml and libdl dependencies?

Done.