compile libhrpIo and RobotHardware for hrpsys_gazebo_general

https://github.com/start-jsk/rtmros_gazebo/issues/35 is resolved by this PR.
This PR is doing same modification as https://github.com/start-jsk/rtmros_gazebo/pull/58.
Also see https://github.com/start-jsk/rtmros_gazebo/pull/57 and https://github.com/start-jsk/rtmros_gazebo/pull/45.