[lcm] Remove spurious deps from library code (RobotLocomotion#20308)

This requires adding missing deps to some application code.

examples/multibody/acrobot/BUILD.bazel

@@ -17,6 +17,7 @@ drake_cc_binary(
     deps = [
         "//common:add_text_logging_gflags",
         "//geometry:drake_visualizer",
+        "//lcm",
         "//multibody/benchmarks/acrobot:make_acrobot_plant",
         "//systems/analysis:implicit_euler_integrator",
         "//systems/analysis:runge_kutta3_integrator",
@@ -39,6 +40,7 @@ drake_cc_binary(
     ],
     deps = [
         "//common:add_text_logging_gflags",
+        "//lcm",
         "//multibody/benchmarks/acrobot:make_acrobot_plant",
         "//multibody/parsing",
         "//systems/analysis:simulator",

examples/multibody/cylinder_with_multicontact/BUILD.bazel

@@ -57,6 +57,7 @@ drake_cc_binary(
     deps = [
         ":populate_cylinder_plant",
         "//common:add_text_logging_gflags",
+        "//lcm",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
         "//systems/lcm:lcm_pubsub_system",

examples/multibody/inclined_plane_with_body/BUILD.bazel

@@ -18,6 +18,7 @@ drake_cc_binary(
     ],
     deps = [
         "//common:add_text_logging_gflags",
+        "//lcm",
         "//multibody/benchmarks/inclined_plane",
         "//multibody/plant:contact_results_to_lcm",
         "//systems/analysis:simulator",

examples/multibody/pendulum/BUILD.bazel

@@ -13,6 +13,7 @@ drake_cc_binary(
     test_rule_args = ["--target_realtime_rate=0.0"],
     deps = [
         "//geometry:drake_visualizer",
+        "//lcm",
         "//multibody/benchmarks/pendulum",
         "//systems/analysis:implicit_euler_integrator",
         "//systems/analysis:runge_kutta3_integrator",

examples/multibody/rolling_sphere/BUILD.bazel

@@ -36,6 +36,7 @@ drake_cc_binary(
     deps = [
         ":populate_ball_plant",
         "//common:add_text_logging_gflags",
+        "//lcm",
         "//multibody/plant:contact_results_to_lcm",
         "//systems/analysis:simulator",
         "//systems/analysis:simulator_gflags",

examples/scene_graph/BUILD.bazel

@@ -41,6 +41,7 @@ drake_cc_binary(
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
         "//geometry/render_vtk",
+        "//lcm",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
         "//systems/lcm:lcm_pubsub_system",
@@ -61,6 +62,7 @@ drake_cc_binary(
     deps = [
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
+        "//lcm",
         "//lcmtypes:contact_results_for_viz",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
@@ -107,6 +109,7 @@ drake_cc_binary(
         ":solar_system",
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
+        "//lcm",
         "//systems/analysis:simulator",
         "//systems/framework:diagram",
         "//systems/primitives:constant_vector_source",

geometry/BUILD.bazel

@@ -117,17 +117,20 @@ drake_cc_library(
     name = "drake_visualizer",
     srcs = ["drake_visualizer.cc"],
     hdrs = ["drake_visualizer.h"],
-    deps = [
+    interface_deps = [
         ":drake_visualizer_params",
         ":geometry_roles",
         ":geometry_version",
         ":scene_graph",
         "//common:essential",
-        "//lcm:drake_lcm",
-        "//lcmtypes:viewer",
+        "//lcm:interface",
         "//systems/framework:context",
         "//systems/framework:leaf_system",
     ],
+    deps = [
+        "//lcm:drake_lcm",
+        "//lcmtypes:viewer",
+    ],
 )
 
 drake_cc_library(
@@ -689,6 +692,8 @@ drake_cc_googletest(
         ":drake_visualizer",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",
+        "//lcm",
+        "//lcmtypes:viewer",
         "//systems/analysis:simulator",
     ],
 )

geometry/profiling/BUILD.bazel

@@ -25,6 +25,7 @@ drake_cc_binary(
         "//common",
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
+        "//lcm",
         "//lcmtypes:contact_results_for_viz",
         "//systems/analysis:explicit_euler_integrator",
         "//systems/analysis:simulator",

geometry/render_gltf_client/BUILD.bazel

@@ -297,6 +297,7 @@ drake_cc_binary(
         "//geometry:drake_visualizer",
         "//geometry:scene_graph",
         "//geometry/render_vtk",
+        "//lcm",
         "//multibody/parsing",
         "//multibody/plant",
         "//systems/analysis:simulator",

manipulation/kuka_iiwa/BUILD.bazel

@@ -199,6 +199,7 @@ drake_cc_googletest(
         ":build_iiwa_control",
         ":iiwa_constants",
         "//common:find_resource",
+        "//lcm",
         "//manipulation/util:make_arm_controller_model",
         "//multibody/parsing:model_instance_info",
         "//multibody/parsing:parser",

manipulation/schunk_wsg/BUILD.bazel

@@ -219,6 +219,7 @@ drake_cc_googletest(
         ":build_schunk_wsg_control",
         ":schunk_wsg_lcm",
         "//common:find_resource",
+        "//lcm",
         "//multibody/parsing:parser",
         "//multibody/plant",
         "//systems/analysis:simulator",

multibody/plant/BUILD.bazel

@@ -840,6 +840,7 @@ drake_cc_googletest(
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",
         "//geometry:drake_visualizer",
+        "//lcm",
         "//math:geometric_transform",
         "//multibody/plant:contact_results_to_lcm",
         "//systems/analysis:implicit_euler_integrator",

systems/lcm/BUILD.bazel

@@ -38,11 +38,14 @@ drake_cc_library(
     name = "lcm_publisher_system",
     srcs = ["lcm_publisher_system.cc"],
     hdrs = ["lcm_publisher_system.h"],
-    deps = [
+    interface_deps = [
         ":serializer",
-        "//lcm:drake_lcm",
+        "//lcm:interface",
         "//systems/framework:leaf_system",
     ],
+    deps = [
+        "//lcm:drake_lcm",
+    ],
 )
 
 drake_cc_library(
@@ -62,11 +65,14 @@ drake_cc_library(
     name = "lcm_subscriber_system",
     srcs = ["lcm_subscriber_system.cc"],
     hdrs = ["lcm_subscriber_system.h"],
-    deps = [
+    interface_deps = [
         ":serializer",
-        "//lcm:drake_lcm",
+        "//lcm:interface",
         "//systems/framework:leaf_system",
     ],
+    deps = [
+        "//lcm:drake_lcm",
+    ],
 )
 
 drake_cc_library(