Use ament_cmake_ros build tool in moveit_setup_assistant packages

[sea-bass]

Description

Something changed in rolling apparently, so buildfarm is not happy.

Closes #3440

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

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 45.86%. Comparing base (ec5b368) to head (8d0039e).
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3441      +/-   ##
==========================================
+ Coverage   45.84%   45.86%   +0.02%     
==========================================
  Files         717      717              
  Lines       62637    62637              
  Branches     7581     7581              
==========================================
+ Hits        28712    28722      +10     
+ Misses      33757    33747      -10     
  Partials      168      168              

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