build: replace pcl_ros with direct PCL component deps and fix ament exports

- Use find_package(PCL COMPONENTS common io) instead of pcl_ros
- Link against PCL_COMMON_LIBRARIES/PCL_IO_LIBRARIES instead of PCL_LIBRARIES
- Fix ament_export_targets with EXPORT for proper downstream consumption
- Update package.xml deps: libpcl-common + libpcl-io replace pcl_ros
- Remove redundant PCL_INCLUDE_DIRS from target_include_directories

Based on improvements from PR #55.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: facontidavide

cloudini_ros/CMakeLists.txt

@@ -107,11 +107,6 @@ target_link_libraries(test_cloudini_subscriber
   ${PCL_COMMON_LIBRARIES}
 )
 
-target_include_directories(test_cloudini_subscriber
-  PRIVATE
-    ${PCL_INCLUDE_DIRS}
-)
-
 install(TARGETS test_cloudini_subscriber
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib