Tools: Install setuptools, packaging and wheel through apt

* Installing these on host OS outside of a VENV can break many other
  tools
* If in VENV, we upgrade them to the latest just in case
* Remove focal workaround now that upstream fixed it

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

Tools/environment_install/install-prereqs-ubuntu.sh

@@ -164,7 +164,7 @@ else
 fi
 
 # Lists of packages to install
-BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect"
+BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen python3-pexpect python3-packaging python3-setuptools python3-wheel"
 PYTHON_PKGS="future lxml pymavlink pyserial MAVProxy geocoder empy==3.3.4 ptyprocess dronecan"
 PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser"
 
@@ -183,7 +183,7 @@ if [ ${RELEASE_CODENAME} == 'bookworm' ] ||
     PYTHON_PKGS+=" numpy pyparsing psutil"
     SITL_PKGS="python3-dev"
 else
-SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-setuptools ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing ${PYTHON_V}-psutil"
+SITL_PKGS="libtool libxml2-dev libxslt1-dev ${PYTHON_V}-dev ${PYTHON_V}-pip ${PYTHON_V}-numpy ${PYTHON_V}-pyparsing ${PYTHON_V}-psutil"
 fi
 
 # add some packages required for commonly-used MAVProxy modules:
@@ -393,6 +393,10 @@ if [ -n "$PYTHON_VENV_PACKAGE" ]; then
     $SOURCE_LINE
     PIP_USER_ARGUMENT=""
 
+    # Try update packaging, setuptools and wheel before installing pip package that may need compilation.
+    # This will overwrite the system supplied version in the virtual environment.
+    $PIP install $PIP_USER_ARGUMENT -U pip packaging setuptools wheel
+
     if [[ -z "${DO_PYTHON_VENV_ENV}" ]] && maybe_prompt_user "Make ArduPilot venv default for python [N/y]?" ; then
         DO_PYTHON_VENV_ENV=1
     fi
@@ -402,13 +406,6 @@ if [ -n "$PYTHON_VENV_PACKAGE" ]; then
     fi
 fi
 
-# try update packaging, setuptools and wheel before installing pip package that may need compilation
-SETUPTOOLS="setuptools"
-if [ ${RELEASE_CODENAME} == 'focal' ]; then
-    SETUPTOOLS=setuptools==70.3.0
-fi
-$PIP install $PIP_USER_ARGUMENT -U pip packaging $SETUPTOOLS wheel
-
 if [ "$GITHUB_ACTIONS" == "true" ]; then
     PIP_USER_ARGUMENT+=" --progress-bar off"
 fi