[hrpsys_ros_bridge_tutorials] fix for Noetic

[kirohy]

fix cmake and python3 problems. catkin build hrpsys_ros_bridge_tutorials has passed successfully.

• python2 to 3
• xacro.py is deprecated in Noetic
• https://github.com/Naoki-Hiraoka/multisense_ros/tree/3.4.9_fixed is needed