Switch nav2_controller to modern CMake idioms.

[clalancette]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Follow-up to #4357
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	N/A
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Change nav2_controller to use modern CMake idioms:

1. Change from ament_target_dependencies() to target_link_libraries()
2. Export the target so that downstream consumers can use it.
3. Move the include directories down one level, which is best practice since Humble.
4. Clean up the dependencies.

Description of documentation updates required from your changes

None needed.

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Future work that may be required in bullet points

This is part of a larger series switching Navigation2 to modern CMake idioms. There will be follow-up PRs changing more of the packages.

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists