Use CMake preset

[pattacini]

See robotology/icub-main#1001.

[traversaro]

Technically the only Ubuntu distribution for which we have support on icub-head/ergocub-torso in the documentation is Ubuntu 20.04 (see

documentation/docs/icub_operating_systems/download.md

Line 11 in 469c662

| iCubOS | icub-head (_HD equipped board_) | 8.0 | 04-Jun-2021 | Ubuntu 20.04 "Focal Fossa" | [2.3 GB](https://storage.cloud.google.com/icub_os_images/iCubOS_V8.0.20.04.zip) | [_The iCub OS installation from image_](./icubos/installation-from-image.md) |

), and the default CMake version there is 3.16, while the first that support preset. I guess that if we want to start adding preset there, we should start documenting that on Ubuntu 20.04 a newer CMake version should be installed, in the past we did that by suggesting users to follow the instructions at https://apt.kitware.com/ .

[pattacini]

As #381 suggests, we're about to provide the doc for upgrading to more recent versions of Ubuntu, hence I deem merging consistent.