As cmake expects absolute library paths, while pkgconfig provides lib names only (together with
LIBRARY_DIRS), one needs to find the full library path.

This fixes 7854c0fc.

- MoveIt cannot make a new release right now with our bugfix due to people constraints
- We cannot roll back due to project constraints
- This adds a cmake config that internally uses the pkg-config. This will be replaced in the future with one with proper CMake targets