Use relative install paths for plugin shared libraries and gz-tools data

[azeey]

🦟 Bug fix

Summary

Fixes an error when building https://github.com/gazebo-release/gz_launch_vendor/ in the ROS buildfarm.

Similar to gazebosim/gz-tools#137

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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