[jrl-cmakemodules] Add new port

[shixiong2333]

🤓 This is a prerequisite for adding the pinocchio port (#8928). The next step is to add the coal port, both of which will utilize jrl-cmakemodules.

🥵 As described in the usage, jrl-cmakemodules need to be imported before defining the project in CMake. However, my testing revealed that some vcpkg-related configurations only take effect after the project is defined. Therefore, I added project(vcpkg_helper LANGUAGES NONE) at the beginning of the usage (I will add similar patches to CMakeLists.txt for coal and pinocchio later). I feel this is not a good approach. Is there a better way to write it?

• Changes comply with the maintainer guide.
• The name of the port matches an existing name for this component on https://repology.org/ if possible, and/or is strongly associated with that component on search engines.
• Optional dependencies are resolved in exactly one way. For example, if the component is built with CMake, all find_package calls are REQUIRED, are satisfied by vcpkg.json's declared dependencies, or disabled with CMAKE_DISABLE_FIND_PACKAGE_Xxx.
• The versioning scheme in vcpkg.json matches what upstream says.
• The license declaration in vcpkg.json matches what upstream says.
• The installed "copyright" file matches what upstream says.
• The source code of the component installed comes from an authoritative source.
• The generated "usage text" is accurate. See adding-usage for context.
• The version database is fixed by rerunning ./vcpkg x-add-version --all and committing the result.
• Only one version is in the new port's versions file.
• Only one version is added to each modified port's versions file.

[BillyONeal]

This is sufficiently.., strange that I'd like to discuss with the team.