Why no /opt/ros/kinetic/lib/*.so soname version?

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Here's what I can see (abbreviated) on a typical Ubuntu Xenial installation of Kinetic:

$ find /opt/ros/kinetic/lib -maxdepth 1 -type f -name '*.so' -exec objdump -p {} \; | grep SONAME | head
  SONAME               libresource_retriever.so
  SONAME               libpcl_ros_filters.so
  SONAME               libinteractive_markers.so
  SONAME               libtf.so
  SONAME               librosbag.so
  SONAME               librosconsole_bridge.so
  SONAME               libnodeletlib.so
  SONAME               libpcl_ros_features.so
  SONAME               liburdf.so
  SONAME               libsimple_message_dummy.so

Here's a view of the "host multiarch" directory on the same installation:

$ find /opt/ros/kinetic/lib/x86_64-linux-gnu/ -maxdepth 1 -type f -name '*.so.*' -exec objdump -p {} \; | grep SONAME | head
  SONAME               libopencv_video3.so.3.3
  SONAME               libopencv_rgbd3.so.3.3
  SONAME               libopencv_stitching3.so.3.3
  SONAME               libopencv_xfeatures2d3.so.3.3
  SONAME               libopencv_viz3.so.3.3
  SONAME               libopencv_imgproc3.so.3.3
  SONAME               libopencv_xphoto3.so.3.3
  SONAME               libopencv_features2d3.so.3.3
  SONAME               libopencv_ximgproc3.so.3.3
  SONAME               libopencv_bgsegm3.so.3.3

Why do the former lack soname versions? Why do only the latter have soname versions? Why does setup.sh export LD_LIBRARY_PATH such that the former path precedes the latter (causing the linker to find the _unversioned_ shared objects in lieu of the versioned ones)?

Follow up question: Is there anything obviously wrong with doing something like the following?

find "/opt/ros/${ros_distro}/lib" -maxdepth 1 -type f -name '*.so' -exec dpkg -S {} + \
    | tr -s ': ' '\t' \
    | while read package sofile; do
    version="$(dpkg -s "${package}" | awk '/^Version: /{print $NF}')"
    output="/etc/dpkg/symbols/${package}.symbols"
    mkdir -vp "$(dirname "${output}")"
    dpkg-gensymbols -e"${sofile}" -p"${package}" -v"${version}" -O"${output}"
done

I.e., Is generating symbols files for every unversioned shared object a reasonable solution to this problem?