Add drc demo again

Very sorry to confuse.  Try https://github.com/jsk-ros-pkg/jsk_demos/pull/75 again.
This PR contains the commit for 1.reverting the revert https://github.com/jsk-ros-pkg/jsk_demos/pull/80  and 2.fixing dependency error https://github.com/jsk-ros-pkg/jsk_demos/pull/75#issuecomment-66437718.