Install Soar via apt

[JBoggsy]

Inspired by #467, unless this is already possible.

[moschmdt]

Installing Soar via apt would actually greatly improve the usability of soar_ros, since the installation of Soar currently works via CMakes FetchContent capabilities, but does not automatically install dependencies of Soar. The idiomatic way to resolve this in ROS2 would be to install Soar as a system dependency via rosdep for all Debian based systems. rosdep fetches from apt repositories in the background, according to the yaml rosdep specification.

CMake supports the generation of deb packages via CPack generators, once #523 is merged, the preliminary steps for generating a deb package should be available.