Update catkin dependencies

[marip8]

This PR changes the catkin_package macro of the tesseract_ros packages to specify tesseract dependencies in the CFG_EXTRAS tag rather than DEPENDS tag. For packages added to the DEPENDS tag, catkin appends the output of the variable <package_name>_LIBRARIES to the variable catkin_LIBRARIES. Packages currently in tesseract only define a <package_name>_LIBRARY_DIRS variable, not a _LIBRARIES variable; thus adding them to the DEPENDS tag does nothing. Since tesseract uses modern CMake, it makes more sense to specify these dependencies in CFG_EXTRAS