Fix installed header for URDF
Fix installed header for URDF

b388938c02e (#2707) changed the name of the URDF parser header, but
failed to update the list of installed headers, causing CMake configure
to choke due to reference to a file that does not exist. Change the
installed headers list to reflect the new header set.

billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake