Merge pull request #5 from k-okada/add_test_code

Add test code
download sourcecode under build repository
clean up codes
fix conflict
Merge pull request #6 from k-okada/fix-fhs

download sourcecode under build repository
fix default INSTALL_BIN_DIR, INSTALL_DATA_DIR and INSTALL_SCRIPT_DIR for rosbuild, fixes rosbild or Issue #11