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bloom generates the Debian control files based on the dependencies in the package manifest. When the Debian package is being built all declared build dependencies will be installed in order to build the package. As the comment mentions it doesn't take group dependencies into account.

If the package wouldn't declare any explicit build dependencies on RMW implementations there would be none installed and the package would simply fail to build (see https://github.com/ros2/rmw/blob/9f2e181306c66ac0f09674086a108d4657611766/rmw_implementation_cmake/cmake/get_default_rmw_implementation.cmake#L28).