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deb packages have a "recommends" field which does what you suggest; it marks packages as recommended, but not required. In practice, users who install your package manually will get the recommended packages, and users who install is as a dependency of something else will not get the recommended packages.
The ROS package.xml format has no notion of "recommended" or "optional" dependencies.
When adding dependencies, keep in mind that a large portion of the ROS community does not use Ubuntu, and because of this, I recommend that you list all of your dependencies in your package.xml.
If you really, really want to add a recommended dependency to your package, you can modify the debian packaging files that are generated by bloom when releasing your package.
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