Add config test

similar to issue discussed in start-jsk/openrtm_aist_core#1
currently hrpsys-base provides following information

```
prefix=/home/k-okada/catkin_ws/ws_openrtm_common/devel
exec_prefix=${prefix}/bin
libdir=${prefix}/lib
idldir=/home/k-okada/catkin_ws/ws_openrtm_common/src/rtm-ros-robotics/openrtm_common/hrpsys/share/hrpsys/idl
includedir=-I${prefix}/include/hrpsys -I${prefix}/include/hrpsys/idl
link_shared_files=
link_static_files=
link_depend_dirs=
link_depend_files=
link_depend_options=
cflag_defs=
cflag_options=
```