Fix iDynTree 4.3.0 deprecations

[traversaro]

There were this warnings:

CMake Warning (dev) at cmake/AddBipedalLocomotionLibrary.cmake:73 (target_link_libraries):
  The library that is being linked to, iDynTree::idyntree-modelio-urdf, is
  marked as being deprecated by the owner.  The message provided by the
  developer is:

  Do not use deprecated target iDynTree::idyntree-modelio-urdf, use
  iDynTree::idyntree-modelio instead.

Call Stack (most recent call first):
  src/Estimators/CMakeLists.txt:17 (add_bipedal_locomotion_library)
This warning is for project developers.  Use -Wno-dev to suppress it.

These were introduced in iDynTree 4.3.0, I think it is safe to use the new target.

[traversaro]

My bad, I did not saw #551 , anyhow this one is kind of a rebase of that one over the latest master.

[GiulioRomualdi]

The failure of the actions are not related to this PR

[GiulioRomualdi]

Thank you @traversaro