[20652] Fix test filtering in CMake files

[MiguelCompany]

Description

This is a rework of #4603 for old branches where we are not using gtest_discover_tests().
Some commits have been directly cherry-picked, while others have been reworked.
The main difference is that here we are ignoring tests and thus the logic is positive (i.e. we IGNORE foo bar) while in master we are filtering them and thus the logic is negative (i.e. we TEST_FILTER -foo:bar)

@Mergifyio backport 2.6.x

Contributor Checklist

• Commit messages follow the project guidelines.
• N/A The code follows the style guidelines of this project.
• N/A Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A Any new/modified methods have been properly documented using Doxygen.
• Changes are ABI compatible.
• Changes are API compatible.
• N/A New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[MiguelCompany]

@richiprosima Please test this

[MiguelCompany]

@Mergifyio rebase

[mergify]

rebase

✅ Branch has been successfully rebased

[MiguelCompany]

@richiprosima please test this

[MiguelCompany]

@Mergifyio backport 2.6.x

[mergify]

backport 2.6.x

✅ Backports have been created

• #4665 [20652] Fix test filtering in CMake files (backport #4650) has been created for branch 2.6.x but encountered conflicts

[MiguelCompany]

@richiprosima Please test mac

[MiguelCompany]

@richiprosima Please test mac

[MiguelCompany]

@richiprosima Please test mac

[MiguelCompany]

@richiprosima Please test mac