Avoid calling colcon twice and passing CMake args to Acados

[oKermorgant]

Hi,

Thanks for this package that I'll try to use for Acados-based MPC.

In this PR I propose 3 updates that might help distributing the package:

• pre-clone the acados git repo to make it available for Python install (avoids double call to colcon)
• download the Tera renderer from CMake. Indeed, if the package is installed system-wide then the user might not have the privilege to write in the expected folder
• add CMake arguments to forward to Acados (e.g. what solvers to use)

[tpoignonec]

Thanks, that's a great idea!

I just made the edits compliant with the format CI.