Depend on rsl::rsl as a non-ament dependency

[ChrisThrasher]

Description

ament_target_dependencies apparently does not work if the target it depends on is it not itself built using ament CMake macros as is the case with RSL as of version 1.0. Because of this API break in the build interface of RSL we have to switch to a vanilla target_link_libraries call to use rsl::rsl.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (f596b9d) 50.46% compared to head (fe017c1) 50.85%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2578      +/-   ##
==========================================
+ Coverage   50.46%   50.85%   +0.39%     
==========================================
  Files         387      388       +1     
  Lines       32183    32358     +175     
==========================================
+ Hits        16238    16451     +213     
+ Misses      15945    15907      -38     

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