use pkg_check_modules instead of find_package for collada_urdf_jsk_patch

The reason of https://github.com/start-jsk/rtmros_gazebo/issues/98 is that we use different way for searching package in cmake.

We use `find_package` for collada_urdf_jsk_patch in hrpsys_gazebo_atlas ( https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/catkin.cmake#L28 ),
and use `pkg_check_modules` in hrpsys_gazebo_tutorials ( https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_tutorials/catkin.cmake#L4 ).

This PR modifies to use  `pkg_check_modules` for both package.
If you run `catkin_make --only-pkg-with-deps hrpsys_gazebo_tutorials hrpsys_gazebo_atlas` without this PR, you'll get error https://github.com/start-jsk/rtmros_gazebo/issues/98.