Standardize the writing of CMakeLists.txt

[J-xinyu]

When I looked at the CMakeLists.txt file of the packages, I found that there was no unified specification. Some packages use the original syntax of cmake, some use ament_cmake, and some use ament_cmake_auto, and some even use a mixture of several syntaxes. Will there be a unified cmake writing rules in the future, such as using ament_cmake_auto, or other