[iceoryx] Fix acl dependency

[dg0yt]

Alternative to #29257

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[BillyONeal]

Based on the discussion on my commit would it make sense to use the variables form instead of the target so that downstream consumption doesn't need to have pkgconfig available?

[dg0yt]

That's why I adopted the simplest approach with targets:

• I learned that this dependency is linux-only. IMO it is fairly safe to assume the presence of pkg-config on linux.
• I checked that IMPORTED_TARGET is available in CMake 3.7.
• I know that the lib related variables from pkg_check_modules do have at least one open issue. IIRC the last remaining one is absolute file paths (/foo/libbar.a) not being added to <Pkg>_LINK_LIBRARIES.

OTOH if we really want variables:

• I do have code (patch in port curl, upstreamed in gdal) which resolves deep target link libraries including typical generator expressions into flat variables. This could be generalized and made available via find_package if needed more often.
• We already have a port file function x_pkgconfig_get modules which can give us the variable values to pass them into the iceoryx build. This is easy to adopt if desired.

[BillyONeal]

OK, I'm sold that this approach is OK. I do want to see if I can move the dependency to the right place in iceoryx to resolve the "why does cyclonedds need this" feedback from @ex-purple before proceeding, investigating..

[BillyONeal]

Thanks!