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

This reverts commit ece86108b2f02543bed2863fe025bcce0df2247f.
Revert "Fix GNUInstallDirs.cmake native usage"

This reverts commit a00c3deba52c6bd72a049ca519ad36dd12e54625.
Revert "Add install rule for package.xml, build as shared lib, disable testing"

This reverts commit 876d9f805decd004429ab97bcbfc1d8804f5e368.
Add install rule for package.xml, build as shared lib, disable testing
Fix GNUInstallDirs.cmake native usage
Force CMAKE_INSTALL_LIBDIR=lib