Depend on 3rd party ament packages via target_link_libraries where possible

[ChrisThrasher]

Many modern ROS packages export a single CMake target that encodes everything required to use it. For those packages we are better off using target_link_libraries to link to that target. It's the simpler and canonical solution to linking to 3rd party libraries.

This has the benefit of ensuring that if a target doesn't exist we get a hard failure. Any namespaces CMake target (any target with :: in its name) must exist or else configuration fails. This prevents subtle issues like what caused #2578.

[github-actions]

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