Fixes for non-debian systems

These three patches were present in the other repo, but didn't get moved over.

Original commits:
- https://github.com/start-jsk/openhrp3/commit/bcf6285b28532461a5b0af1356dc574ed4f211a8
- https://github.com/start-jsk/openhrp3/commit/66cdb9b74d36ed82f4839acf96600569e6130594
- https://github.com/start-jsk/openhrp3/commit/8beb1d98325a838bef6bcee6c4b884e03be9f489

Thanks,

--scott