add libpcrecpp, without this patch, pcrecpp always fails > 13.04

[k-okada]

state_publisher fails with ubuntu 13.04 and higher with Trying to load an invalid COLLADA version for this DOM build
Here is how you reproduce this.

$ rosparam set /robot_description -t `rospack find nextage_description`/models/main.dae # https://github.com/tork-a/rtmros_nextage/tree/hydro-devel/nextage_description/models

$ rosrun robot_state_publisher state_publisher
[ERROR] [1405529535.299984046]: COLLADA error: Trying to load an invalid COLLADA version for this DOM build!
[ERROR] [1405529535.343770418]: COLLADA error: Failed to load XML document from memory
[ERROR] [1405529535.356754079]: Could not generate robot model
[ERROR] [1405529535.360128130]: Failed to extract kdl tree from xml robot description

but on 12.04, state_publisher works and collada_to_urdf also works even inf it uses same function to load collada model files as state_publish (openFromMemory function https://github.com/ros/robot_model/blob/indigo-devel/collada_parser/src/collada_parser.cpp#L444 via
https://github.com/ros/robot_model/blob/indigo-devel/collada_urdf/src/collada_to_urdf.cpp#L674)

$ rosrun collada_urdf collada_to_urdf main.dae 
;; Input file is: main.dae
[ WARN] [1405531921.704972653]: COLLADA warning: The DOM was unable to create an element named copyright at line 10. Probably a schema violation.
[ERROR] [1405531921.906564327]: Target Node visual1/node_joint0_axis0 NOT found!!!
[ WARN] [1405531921.922642311]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0
[ WARN] [1405531921.927932124]: could not find binding for axis: kmodel1/jointsid1000/axis0, axis0

What I found is ..

• pcrecpp::FullMatch always fails on 13.04 and higher (https://github.com/rdiankov/collada-dom/blob/master/dom/src/dae/daeURI.cpp#L751)
• collada_to_urdf directly links colada_parasr and collada-dom, but state_publisher user collada_parser through urdf_parser_plugin.

I still could not find good workaround but if state_publisher loads pcrecpp before it loads collada_parser, then it works fine.

see rdiankov/collada-dom#7 for original post.

[k-okada]

it turns out that the problem comes with 8.13 of pcre(http://sourceforge.net/projects/pcre/files/pcre/), if we using 8.12 on 13.04, it is ok.

[k-okada]

I create PR to solve this problem on collada-dom level,once rdiankov/collada-dom#13 has merged, we are able to use collada model file in trusty/indigo.
To be precise, we have to update collada deb file in ros debian repository