Refactoring RTABMapConfig.cmake with targets (#904)

* Config: Using cmake targets

* fixed RTABMAP_DEPRECATED build error

* fixed melodic build

* cleanup

* Fixed qhull exported library error

* Update svg depend private

* removed g2o from public interface

* Fixed Windows with external project

* removed some required dep

* Fixed nsis error (also fixed unspecified components)

* updated workflow rules

.github/workflows/cmake-ros.yml

@@ -2,10 +2,10 @@ name: CMake-ROS
 
 on:
   push:
-    branches:
-      - '**'
+    branches: 
+      - master
   pull_request:
-    branches:
+    branches: 
       - '**'
 
 env: