Avoid use of the LOCATION property in CMake scripts

The property can be changed during configure time so it's preferable to use generator expressions instead:
https://cmake.org/cmake/help/latest/policy/CMP0026.html

In particular, retrieving this property is extremely slow on newer CMake versions (up to 0.2s/invocation), and we call it from add_cd_file, i.e. for every single module.
This causes a severe performance penalty (~25%) for ROS builds when using recent CMake compared to 3.2.1.