Fix Yarp cmake detection and usage (Closes #1424) #1971

Job	Run time
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-9, /usr/bin/g++-9, 98)	8m 18s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-9, /usr/bin/g++-9, 11)	27m 50s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-9, /usr/bin/g++-9, 17)	31m 33s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-10, /usr/bin/g++-10, 98)	7m 12s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-10, /usr/bin/g++-10, 11)	24m 59s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/gcc-10, /usr/bin/g++-10, 17)	27m 5s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/clang, /usr/bin/clang++, 98)	8m 48s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/clang, /usr/bin/clang++, 11)	35m 20s
build-ubuntu-dep-apt (ubuntu-20.04, /usr/bin/clang, /usr/bin/clang++, 17)	35m 8s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-9, /usr/bin/g++-9, 98)	6m 59s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-9, /usr/bin/g++-9, 11)	23m 6s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-9, /usr/bin/g++-9, 17)	27m 24s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-10, /usr/bin/g++-10, 98)	7m 55s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-10, /usr/bin/g++-10, 11)	27m 51s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/gcc-10, /usr/bin/g++-10, 17)	28m 48s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/clang, /usr/bin/clang++, 98)	9m 27s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/clang, /usr/bin/clang++, 11)	34m 18s
build-ubuntu-dep-apt (ubuntu-22.04, /usr/bin/clang, /usr/bin/clang++, 17)	37m 5s
	6h 49m 6s

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