Switch nav2_amcl to use modern CMake idioms.

[clalancette]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Followup to #4357
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

This PR updates nav2_amcl to use modern CMake idioms.

This change is a little unusual in that it rearranges the hierarchy of CMakeLists.txt files. This is because the individual libraries (like map_lib) are used in some of the other libraries, and CMake was complaining about that. So I flattened the whole thing out and now build all of the libraries at the top-level.

This PR also contains a couple of fixes to previous packages where I failed to properly export the include directory.

Finally, this PR goes ahead and removes quite a bit of dead code from this package. This has been dead for quite a while, so I think it makes sense to remove it at this point.

Description of documentation updates required from your changes

None needed.

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Future work that may be required in bullet points

Changing the rest of the packages in Navigation2 to use modern CMake idioms (PRs will be upcoming).

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files	Coverage Δ
nav2_amcl/include/nav2_amcl/angleutils.hpp	100.00% <ø> (ø)
...v2_amcl/motion_model/differential_motion_model.hpp	50.00% <ø> (-50.00%)	⬇️
...clude/nav2_amcl/motion_model/omni_motion_model.hpp	50.00% <ø> (-50.00%)	⬇️
...av2_amcl/include/nav2_amcl/sensors/laser/laser.hpp	100.00% <ø> (ø)
nav2_amcl/src/amcl_node.cpp	70.65% <100.00%> (ø)
nav2_amcl/src/map/map.c	70.58% <ø> (-29.42%)	⬇️
nav2_amcl/src/map/map_cspace.cpp	79.48% <ø> (-11.69%)	⬇️
nav2_amcl/src/map/map_range.c	86.66% <ø> (-13.34%)	⬇️
...mcl/src/motion_model/differential_motion_model.cpp	72.72% <ø> (-27.28%)	⬇️
nav2_amcl/src/motion_model/omni_motion_model.cpp	80.43% <ø> (-19.57%)	⬇️
... and 3 more

... and 3 files with indirect coverage changes