Huaijiangzhu/build doc

[MaximilienNaveau]

Description

fix the issue of compatibility between pip and colcon adding the mpi_cmake_modules as test_dependencies build doc and refactor the setup.py a little bit.

How I Tested

run pip install . and colcon build

I fulfilled the following requirements

• [x] All new code is formatted according to our style guide (for C++ run clang-format, for Python, run flake8 and fix all warnings).
• [x] All new functions/classes are documented and existing documentation is updated according to changes.
• [x] No commented code from testing/debugging is kept (unless there is a good reason to keep it).

[MaximilienNaveau]

@huaijiangzhu and @jviereck I would like to make sure you saw the PR before merging.