Fix failure when find-pkging Connext Module and c/cxx languages aren't enabled

[ivanpauno]

Fixes https://github.com/osrf/docker_images/issues/403.

We use Connext Module with two different purposes:

• Just check if Connext is available (e.g. here).
• Be able to compile/link against connext.

In the first case, variables like Connext_GLIBCXX_USE_CXX11_ABI_ZERO aren't of interest.

This PR does two changes:

• https://github.com/ros2/rosidl_typesupport_connext/commit/abbe78b9484daf0e1385823d7ca436f7b202b613 modifies the example project to only require CXX language. That already fixes https://github.com/osrf/docker_images/issues/403.
• https://github.com/ros2/rosidl_typesupport_connext/commit/e53473ac5124b0db07ead967640500335c01ea99 goes a bit further and avoids trying to set Connext_GLIBCXX_USE_CXX11_ABI_ZERO if the project that find-pkged Connext Module doesn't have CXX language support (in that case, setting Connext_GLIBCXX_USE_CXX11_ABI_ZERO is for sure not of interest).

[ivanpauno]

Job config:

• branch: ivanpauno/fix-failure-c-cxx-not-enabled
• build: --packages-up-to rclcpp (to check that downstream packages build normally)
• test: --packages-select connext_cmake_module
• rmw implementations: Connext Static

Jobs (omitted arm64, connext not available there):

• Linux
• macOS
• Windows