Revert "Force CMAKE_INSTALL_LIBDIR=lib"

This reverts commit 8c86663c77e8d2c6065f4254994efa76ed7e80e1.
Revert "Add install rule for package.xml, build as shared lib, disable testing"

This reverts commit 8347136ece0b4f8d06701842e456d3f8d34a42c3.
Add install rule for package.xml, build as shared lib, disable testing
Fix GNUInstallDirs.cmake native usage