Switch expat, xcb and xorg libraries from cdt to proper packages and add xorg-libxrandr package for glfw 3.4

[traversaro]

Fix issue similar to robotology/idyntree#1156 but for the superbuild. As a cleanup, I also migrated as much as cdt as possible to regular packages.

[traversaro]

Regular CI is fine. generate-conda-packages is failing with:

2024-02-26T15:48:59.4454392Z [12/36] Building CXX object src/devices/openxrheadset/CMakeFiles/yarp_openxrheadset.dir/yarp_plugin_openxrheadset.cpp.o
2024-02-26T15:48:59.4455381Z FAILED: src/devices/openxrheadset/CMakeFiles/yarp_openxrheadset.dir/yarp_plugin_openxrheadset.cpp.o 
2024-02-26T15:48:59.4461855Z $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-c++ -DGLFont_DEFAULT_FONTS_PATH=\"$SRC_DIR/build/_deps/glfont-src/fonts\" -Dyarp_openxrheadset_EXPORTS -I$SRC_DIR/build/src/devices/openxrheadset -I$SRC_DIR/src/devices/openxrheadset -I$SRC_DIR/src/devices/openxrheadset/rendering -I$SRC_DIR/build/src/devices/openxrheadset/Autogenerated -I$SRC_DIR/build/_deps/glfont-src/include -I$SRC_DIR/src/vendor/stb -isystem $PREFIX/include/eigen3 -isystem $PREFIX/include/freetype2 -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/yarp-device-openxrheadset-0.0.3 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -O3 -DNDEBUG -std=c++20 -fPIC -MD -MT src/devices/openxrheadset/CMakeFiles/yarp_openxrheadset.dir/yarp_plugin_openxrheadset.cpp.o -MF src/devices/openxrheadset/CMakeFiles/yarp_openxrheadset.dir/yarp_plugin_openxrheadset.cpp.o.d -o src/devices/openxrheadset/CMakeFiles/yarp_openxrheadset.dir/yarp_plugin_openxrheadset.cpp.o -c $SRC_DIR/build/src/devices/openxrheadset/yarp_plugin_openxrheadset.cpp
2024-02-26T15:48:59.4467710Z In file included from $SRC_DIR/src/devices/openxrheadset/OpenGLConfig.h:38,
2024-02-26T15:48:59.4468346Z                  from $SRC_DIR/src/devices/openxrheadset/ImagePortToQuadLayer.h:12,
2024-02-26T15:48:59.4468916Z                  from $SRC_DIR/src/devices/openxrheadset/OpenXrHeadset.h:28,
2024-02-26T15:48:59.4469553Z                  from $SRC_DIR/build/src/devices/openxrheadset/yarp_plugin_openxrheadset.cpp:10:
2024-02-26T15:48:59.4470485Z $PREFIX/include/GLFW/glfw3native.h:119:12: fatal error: X11/extensions/Xrandr.h: No such file or directory
2024-02-26T15:48:59.4471181Z   119 |   #include <X11/extensions/Xrandr.h>
2024-02-26T15:48:59.4471526Z       |            ^~~~~~~~~~~~~~~~~~~~~~~~~

We need to add the xorg-libxrandr dependencies also in conda.

[traversaro]

New conda metapackage failure:

2024-02-26T20:31:57.8127074Z The reported errors are:
2024-02-26T20:31:57.8127404Z - Encountered problems while solving:
2024-02-26T20:31:57.8128233Z -   - package idyntree-matlab-bindings-10.3.0-ha2d195d_117 requires libxcb >=1.16,<1.17.0a0, but none of the providers can be installed
2024-02-26T20:31:57.8128947Z - 
2024-02-26T20:31:57.8129061Z 

Apparently there is a long never-ended migration to libxcb 1.15. Probably we can just add a local pin to 1.15 for it.

[traversaro]

generate-conda-packages job is also happy: https://github.com/robotology/robotology-superbuild/actions/runs/8057061550 .