Refactoring and fixes

PR summary:

• blast is found and linked as a separate library instead of a submodule
• added install commands
• colcon build support
• Moved include files to ./include/tmpc
• Moved experimental code to experimental dir
• Moved files from CMakeModules to cmake
• More automatic way to process tmpc extensions in CMake
• Fix tmpc-casadi installation
• Exclude SyrkPotrfTest.cpp from build
• Find xsimd package
• Declare dependency on Boost in package.xml
• Removed stray files