[11619] Add package.xml

[JLBuenoLopez]

In order to use ROS tools to generate debian packages, a package.xml should be used. In order to bloom this package, it is important that the --recursive option has been used when cloning the repository. Otherwise the peglib.h header file is not installed and upstream packages will fail (for example integration-service-core)

Signed-off-by: JLBuenoLopez-eProsima [email protected]