[hrpsys_choreonoid] build with ROBOT_IOB_VERSION=4 if hrpsys is installed from source

[Naoki-Hiraoka]

https://github.com/start-jsk/rtmros_choreonoid/pull/349 の一部です。

https://github.com/start-jsk/rtmros_choreonoid/issues/339 で報告されている、ソースのhrpsysでもROBOT_IOB_VERSIONが3になるバグを直すPRです。

hrpsysのバーションはaptとsourceで同じになっているので、hrpsys_PREFIXが/opt/rosから始まるかどうかでhrpsysがaptかソースかを判定します。

With hrpsys APT

rtmros_choreonoid/hrpsys_choreonoid/lib$ nm RobotHardware_choreonoid.so
[中略]
                 U write_accelerometer_offset
                 U write_command_angle
                 U write_command_angles
                 U write_command_torques
                 U write_command_velocities
                 U write_dgain
                 U write_digital_output
                 U write_digital_output_with_mask
                 U write_force_offset
                 U write_gyro_sensor_offset
                 U write_pgain
                 U write_power_command
                 U write_servo

With hrpsys SOURCE

rtmros_choreonoid/hrpsys_choreonoid/lib$ nm RobotHardware_choreonoid.so
[中略]
                 U write_accelerometer_offset
                 U write_command_accelerations
                 U write_command_angle
                 U write_command_angles
                 U write_command_torques
                 U write_command_velocities
                 U write_control_mode
                 U write_dgain
                 U write_digital_output
                 U write_digital_output_with_mask
                 U write_disturbance_observer
                 U write_disturbance_observer_gain
                 U write_force_offset
                 U write_gyro_sensor_offset
                 U write_joint_inertia
                 U write_joint_inertias
                 U write_pgain
                 U write_power_command
                 U write_servo
                 U write_torque_dgain
                 U write_torque_pgain

[Naoki-Hiraoka]

ありがとうございます．