Move cmake functions for testing with YAML files upstream

[destogl]

The methods from #57 should be moved into corresponding upstream repositories:

• ament_cmake_gtest
• ament_cmake_gmock

Should this be add_rostest_with_parameters_gtest or something to make it clear that the input yaml is for parameters and that these are a ros-test in that they only work if your test has ros in it (rclcpp::init(argc, argv);)?

Originally posted by @tylerjw in #57 (comment)