[CMake] fix build on Fedora

Fix packaging issues

Fix compilation issues with NumPy 1.19

Related to https://github.com/tensorflow/tensorflow/pull/40728

[CMake] Add SUFFIX_SO_VERSION

fix #200

Sync submodule

Clean CMake

package.xml: Add exec_depend on catkin or ament_cmake

Required for packaging according to REP-136

Fix Windows export

Make the packaging independant from pkg-config

Remove compilation warning