The QuorumPeerMain service is visible with sudo jps command because you are running the Zookeeper with
You should run the Zookeeper without sudo in command then it will be visible in jps command result.
As you have started the Zookeeper with sudo the Zookeeper directory is having the files with root permissions you have to update the owner of these directories to run it with normal command.
Once you make above changes the hbase installation will not create any problem. That's why when you mentioned you have to change the ownership of the zookeeperData folder using below command:
sudo chown -R hduser:hduser /home/hduser/zookeeperData