Use ign-utils instead of ign-cmake utilities

[chapulina]

🎉 New feature

Summary

ign-cmake's utilities aren't recommended and are deprecated in ign-cmake3. We should use ign-utils instead.

This should help with

• Bumps in Garden: ign-cmake3, ign-utils2, ign-tools2, ign-plugin2 gazebo-tooling/release-tools#685

Test it

CI should pass.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[codecov-commenter]

Codecov Report

Merging #978 (a571890) into sdf12 (1637dda) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##            sdf12     #978   +/-   ##
=======================================
  Coverage   65.38%   65.38%           
=======================================
  Files           2        2           
  Lines          26       26           
=======================================
  Hits           17       17           
  Misses          9        9           

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