Update kinematics and collision packages to leverage cmake components

[Levi-Armstrong]

This updates tesseract_kinematics and tesseract_collision to leverage find_package components.

This will load all tesseract_kinematics supported components based on compiler options for core, ikfast, kdl, opw and ur

find_package(tesseract_kinematics REQUIRED)

or just load the component you need

find_package(tesseract_kinematics REQUIRED COMPONENTS core opw)

This will load all tesseract_kinematics supported components based on compiler options for core, bullet, fcl and test_suite

find_package(tesseract_collision REQUIRED)

or just load the component you need

find_package(tesseract_collision REQUIRED COMPONENTS core fcl)

When finding components you have a cmake variable tesseract_kinematics_<component>_FOUND or tesseract_collision_<component>_FOUNDto check if it was found. This can then be used down stream to disable build of other package components which depend on a specific component.

This repo was helpful in understanding cmake find_package components

[Levi-Armstrong]

I need to move the extras.cmake into the core directory to finish out the PR.

[Levi-Armstrong]

This requires ricb update: ros-industrial/ros_industrial_cmake_boilerplate#82

[Levi-Armstrong]

I did some testing and updated tesseract_environment to use find_package(tesseract_kinematics REQUIRED COMPONENTS core abc) and it generates a cmake error for the abc compnent which is not supported. If you move the component abc to OPTIONAL_COMPONENTS no error is generated find_package(tesseract_kinematics REQUIRED COMPONENTS core OPTIONAL_COMPONENTS abc) and cmake variable tesseract_kinematics_abc_FOUND is set to OFF.