fix INSTALL_RPATH on ROS & OSX

ref. https://github.com/stack-of-tasks/eigenpy/issues/353
ref. https://github.com/jrl-umi3218/jrl-cmakemodules/pull/588

cmake @ 6f76c37d

-Subproject commit 00bcc53e001a89e7579c4c3ca7483ffdc28e9a0d
+Subproject commit 6f76c37d7e2a002b2be138e4a0fb383e3043eb9c

python/CMakeLists.txt

@@ -43,8 +43,10 @@ set_target_properties(
              RUNTIME_OUTPUT_DIRECTORY_<CONFIG>
              "${CMAKE_BINARY_DIR}/python/${PROJECT_NAME}")
 
-if(UNIX AND NOT APPLE)
-  set_target_properties(${PYWRAP} PROPERTIES INSTALL_RPATH "\$ORIGIN/../../..")
+if(UNIX)
+  get_relative_rpath(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
+  set_target_properties(${PYWRAP} PROPERTIES INSTALL_RPATH
+                                             "${${PYWRAP}_INSTALL_RPATH}")
 endif()
 
 install(TARGETS ${PYWRAP} DESTINATION ${${PYWRAP}_INSTALL_DIR})