Revert "Set CMAKE_INSTALL_LIBDIR=lib to come over multi-arch issues on indigo Trusty"

This reverts commit b4dbe29d2a6ef13809688dc980a6886c2d50a486.
Revert "Add install rule for package.xml, build as shared lib, disable testing"

This reverts commit 1c3c6954820220dba6b56da934634430bc65abc0.
Add install rule for package.xml, build as shared lib, disable testing
Force CMAKE_INSTALL_LIBDIR=lib