Make use of EMSDK environment variable which comes from sourcing emsdk script #280
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Description
Please include a summary of changes, motivation and context for this PR.
xeus-cpp instructions create a BUILD_PREFIX and SYSROOT_PATH environment variable. It would be better to just utilise the EMSDK environment variable which comes from when you setup emsdk. Also since we only use SYSROOT_PATH once it makes no sense for it to be an environment variable. We can just put the path directly into the cmake configure stage.
Fixes # (issue)
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