[drake] Upgrade to v1.23.0 (#319)

Upgrade to bazel 6.4.0

bazel_ros2_rules/setup/install_prereqs.sh

@@ -51,9 +51,9 @@ function dpkg_install_from_curl() {
 apt install g++ unzip zlib1g-dev
 
 dpkg_install_from_curl \
-  bazel 5.1.0 \
-  https://releases.bazel.build/5.1.0/release/bazel_5.1.0-linux-x86_64.deb \
-  3d54055f764cfb61b5416f0a45d2d3df19c30d301d4da81565595cbe2e36a220
+  bazel 6.4.0 \
+  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
+  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
 
 # Install Python dependencies
 apt install python3 python3-toposort python3-dev python-is-python3

drake_ros/drake.bzl

@@ -1,5 +1,5 @@
 DRAKE_SUGGESTED_VERSION = struct(
-    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.22.0.tar.gz",  # noqa
-    sha256 = "78cf62c177c41f8415ade172c1e6eb270db619f07c4b043d5148e1f35be8da09",  # noqa,
-    strip_prefix = "drake-1.22.0",
+    url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.23.0.tar.gz",  # noqa
+    sha256 = "2e64bca9d5fe942170617d8109ec7ffe5df095d821743c9a619d38599229d03f",  # noqa,
+    strip_prefix = "drake-1.23.0",
 )

ros2_example_bazel_installed/setup/install_prereqs.sh

@@ -60,9 +60,9 @@ apt install g++ unzip zlib1g-dev
 
 # TODO(sloretz) Make sure the version of bazel is exactly the same as the one used by Drake
 dpkg_install_from_curl \
-  bazel 5.1.0 \
-  https://releases.bazel.build/5.1.0/release/bazel_5.1.0-linux-x86_64.deb \
-  3d54055f764cfb61b5416f0a45d2d3df19c30d301d4da81565595cbe2e36a220
+  bazel 6.4.0 \
+  https://github.com/bazelbuild/bazel/releases/download/6.4.0/bazel_6.4.0-linux-x86_64.deb \
+  9276a1e11f03e9f7492f009803c95bddc307993c9ab3c463721c9f6cdaa2ccc1
 
 # TODO(hidmic): install distributions from debians when Drake supports 22.04
 if [[ -z "${ROS2_DISTRO_PREFIX:-}" ]]; then