Fix EXPORT install in CMake

[tylerjw]

Description

This should fix all EXPORTs in the install commands in cmake. This makes so --symlink-install works correctly and so you can run colcon test after colcon build without sourcing the local workspace.

One thing nice about this is it net reduces the cmake code and I think is simpler to read and replicate than what we had before that didn't work.

References

Reason for the ConfigExtras.cmake files with the Boost find_package commands: https://answers.ros.org/question/331089/ament_export_dependenciesboost-not-working/?answer=332460#post-id-332460

Code reference for the CONFIG_EXTRAS parameter to ament_package: https://github.com/ament/ament_cmake/blob/95cab1de1cd6bd7caad34d0122e11b2e86310ee2/ament_cmake_core/cmake/core/ament_package.cmake#L24-L32

The issue I created against ament_cmake documenting how I think the documentation should read about cmake install of libraries: ament/ament_cmake#317

The official documentation: https://index.ros.org/doc/ros2/Tutorials/Ament-CMake-Documentation/#building-a-library

Checklist

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[tylerjw]

I force-pushed to this after fixing a couple of issues I discovered that this caused (ament_lint_cmake and an issue with the install of binaries in moveit_servo). Those issues should be resolved and travis should pass.

[codecov]

Codecov Report

Merging #372 (066b86c) into main (45b9622) will increase coverage by 0.04%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #372      +/-   ##
==========================================
+ Coverage   53.22%   53.25%   +0.04%     
==========================================
  Files         209      209              
  Lines       18849    18849              
==========================================
+ Hits        10030    10036       +6     
+ Misses       8819     8813       -6     

Impacted Files	Coverage Δ
...nning_scene_monitor/src/planning_scene_monitor.cpp	56.82% <0.00%> (+0.61%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	84.56% <0.00%> (+1.48%)	⬆️

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[tylerjw]

I created this gist to explain the Boost stuff: https://gist.github.com/tylerjw/ce3bcb94b3df7996e450dec18ee54cde

I plan on doing a tiny lightning talk for WMD on this. It was confusing for me to figure out, hopefully, it'll help others.

[henningkayser]

This is a really neat solution!

[henningkayser]

This seems to be missing moveit_ros_warehouse. It wasn't exported before, but for some reason MTC failed to compile when not using a symlink ws.

[tylerjw]

fixed

[tylerjw]

@henningkayser @JafarAbdi I believe this PR is now ready to be merged.

[tylerjw]

When this is merged, please just do the squash and merge.