Fix CMake install so overriding works

[tylerjw]

• Fix overriding of install: hardware_interface
• Fix overriding of install: controller_interface
• Fix overriding of install: ros2_control_test_assets
• Fix overriding of install: controller_manager
• Fix overriding of install: controller_manager_msgs
• Fix overriding of install: joint_limits
• Fix overriding of install: transmission_interface
• Upgrade CMake version

Description

This is related to:

• Fix overriding of install kinematics_interface#13
• Fix overriding of install ros2_controllers#510
• Fix overriding of install realtime_tools#105

Here are the colcon docs on overriding: https://colcon.readthedocs.io/en/released/user/overriding-packages.html#how-to-make-it-easier-for-your-users-to-override

Here is the ament_cmake user guide: https://docs.ros.org/en/rolling/How-To-Guides/Ament-CMake-Documentation.html

These changes have been tested locally and are in line with the changes we have been making to CMake for MoveIt. There are a few goals here:

• Standardize the way we use CMake to be more declarative and modern
• Correctly use the ament tooling so building a source copy of this repo on a machine with a binary install works (also called overriding)

One thing I did not do is turn on -Werror or increase the warning set when building this library. Given the time I'll follow up with PRs that fix the warnings and turn on -Werror.

[destogl]

I agree, just have two small comments that probably don't have to be discussed further.