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Refactor CMake with JRL CMake Modules v2#437

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ahoarau wants to merge 210 commits into
Simple-Robotics:develfrom
ahoarau:jrl-next
Draft

Refactor CMake with JRL CMake Modules v2#437
ahoarau wants to merge 210 commits into
Simple-Robotics:develfrom
ahoarau:jrl-next

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