Enable runtime window system selection on Linux in iDynTree::Visualizer

[flferretti]

This PR introduces support for Wayland in the iDynTree::Visualizer, allowing it to use Wayland surfaces and fallback to X11 when necessary.

Fixes #1210

[CLAassistant]

All committers have signed the CLA.

[flferretti]

As discussed f2f, I made the compilation with Wayland optional as the function glfwGetWaylandWindow may not be defined in Ubuntu < 20.04. It can be optionally activated with -DIDYNTREE_USES_WAYLAND. Ready for review @traversaro. Thanks!

[traversaro]

If the support is meant to be activated by -DIDYNTREE_USES_WAYLAND, shouldn't we remove the #define IDYNTREE_USES_WAYLAND in the code?

[flferretti]

You're right! I'll fix it

[traversaro]

Thanks! I will handle a bit the CMake to ensure that this will work out of the box for most users.

[traversaro]

@flferretti can you check my modifications? I also changed the macro name to avoid confusion as in idyntree IDYNTREE_USES_<dep> is tipically used to refer to a dependency that can be enabled and disabled.

[flferretti]

@flferretti can you check my modifications? I also changed the macro name to avoid confusion as in idyntree IDYNTREE_USES_<dep> is tipically used to refer to a dependency that can be enabled and disabled.

Thanks a lot @traversaro! I confirm that it works when the option -DIDYNTREE_GLFW_TRY_WAYLAND_FIRST is activated