Fix linking error with cached_ik_kinematics_plugin

[sloretz]

Description

This fixes a bug caused by #1677 which accidentally inverted the dependency between the plugin and the base library. This fixes it by making the plugin again depend on the base library, and adding missing dependencies to the base library.

I'm not sure why the base library is necessary. It seems like we could add ik_cache.cpp to the plugin library, but I fixed it this way because I would like to request this fix be backported to ROS Iron.

Steps to reproduce (sorry I didn't spend the time to make an MRE)

1. Launch a moveit_ros_move_group move_group node with parameters that includes

robot_description_kinematics:
  some_group_name:
    kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin

2. Observe that it errors with:

symbol lookup error: /path/to/ws/install/moveit_kinematics/lib/libmoveit_cached_ik_kinematics_plugin.so: undefined symbol: _ZN27cached_ik_kinematics_plugin7IKCacheC1Ev

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[sjahr]

Thanks for this fix! I agree that the base library seems to be superfluous.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (01ccced) 50.72% compared to head (449e7fe) 50.70%.

❗ Current head 449e7fe differs from pull request most recent head 9ce1be6. Consider uploading reports for the commit 9ce1be6 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2292      +/-   ##
==========================================
- Coverage   50.72%   50.70%   -0.01%     
==========================================
  Files         386      386              
  Lines       31914    31914              
==========================================
- Hits        16185    16179       -6     
- Misses      15729    15735       +6     

see 1 file with indirect coverage changes

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[sjahr]

Minor blocker for this: #2293

[Abishalini]

Just tested this out. Thanks for fixing this