Cannot compile kernels in debug mode for CUDA <= 11.6

[j-stephan]

While working on #1977 (which adds device-side debug flags) I discovered that CUDA <= 11.6 will fail to compile kernels in debug mode. Example (from here):

ptxas fatal   : Unresolved extern function '__cudaPushCallConfiguration'
make[2]: *** [example/helloWorld/CMakeFiles/helloWorld.dir/build.make:77: example/helloWorld/CMakeFiles/helloWorld.dir/src/helloWorld.cpp.o] Error 255
make[2]: Leaving directory '/builds/hzdr/crp/alpaka/build'
make[1]: *** [CMakeFiles/Makefile2:2018: example/helloWorld/CMakeFiles/helloWorld.dir/all] Error 2

The host compiler doesn't matter, this occurs across gcc and clang and for different versions of both. As this seems to be resolved for CUDA >= 11.7 this issue serves as documentation so we can link to something in our README.md.