Update trac_ik_lib to use vanilla cmake instead of ament.

[Levi-Armstrong]

Would the maintainer be supportive of updating the core package trac_ik_lib to use vanilla cmake and remove the use of ament?

[aprotyas]

Totally open to it, though I don't want to regress the experience for package users within the ROS ecosystem. From what I understand the ament utilities are just a QoL improvement for ROS 2 package writers, since it just wraps around some CMake commands, so we should be able to make this work.

Having said that, I haven't been active in this space in a long time, and probably won't have sufficient time to address this correctly any time soon. @Levi-Armstrong, any interest in doing the typing? 😄