CI - Linux via ROS

Remove small code duplication in CMakelists.txt for ROS2/Ament packaging #1213

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Run time

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Job	Run time
CI (noetic, catkin_tools)	29m 8s
CI (rolling)	29m 1s
CI (iron)	29m 10s
CI (humble)	29m 9s
	1h 56m 28s