Drop Debian 10 Buster support

[traversaro]

This will be required to support YARP 3.10, as otherwise we do not have easy and maintainable way of installing CMake in the version that will be required by YARP 3.10.

This was added in #1547, but I separate it in a separate PR to better visibility.

IMPORTANT: This change will make future robotology-superbuild releases not compatible with pc104-based iCub robots, as the last available image for pc104 is based on Debian 10 Buster, see https://icub-tech-iit.github.io/documentation/icub_operating_systems/pc104/icub-live/#versioning .

As Debian 10 uses glibc 2.28 (see https://repology.org/project/glibc/versions), it should be possible to install software with conda-forge dependencies on Debian 10 for some time in the future.

@Nicogene @valegagge @pattacini @maggia80

[traversaro]

I wanted to cleanup the part related to libdc1394-dev, but apparently on Ubuntu 20.04 this is not possible, as:

root@f3620be4a25e:/robotology-superbuild# apt install libdc1394-dev libopencv-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 libdc1394-dev : Conflicts: libdc1394-22-dev but 2.2.5-2.1 is to be installed
E: Unable to correct problems, you have held broken packages.

so we need to restore the old script, until we drop 20.04 support.