Fix ament_target_dependencies removal

[David-LP99]

Description

Newer versions of ament_cmake removed ament_target_dependencies which was used widely in this repo. This PR is meant to fix issues that will arise building in new versions of rolling 'and lyrical.

Main changes

• Bump CMake minimum required version
• Add a macro that allows to keep the old structure, but calls target_link_libraries or target_include_directories correctly
• Remove duplicated dependencies

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