Revert "Revert "Use jrl-cmakemodules macros and install Python files to site-packages.""

Note: this move is commonly referred to as a "Bussy" ©.

This reverts commit c46d31413e0b682cc840d11698cff0a07672d247.
[cmake] Synchronize.
Update README.md [skip ci]

Dependencies, install instructions etc.
Merge branch 'bchretien-master'
Install the python binding in the good directory.