This has been done to death in a variety of places. An RTG was not used for many reasons such as mass and availability, balanced off against the science experiments that both probes carried. Rosetta was always slated to do most of the experiments, and the landing of Philae was always an unpredictable event (I've read that a matching set of harpoons kept on Earth for the last 10 years in a vacuum also failed to fire).
But think about it. Add an RTG, which adds mass, which means less science overall, possibly to the point of not including a lander. Not only that, you need to oversize the RTG so that when 10 years of zooming around the solar system are up, that it still has enough juice to do the work you want.
The people who designed Rosetta/Philae are rocket scientists, and I am not second guessing their choices. What they have already achieved is phenomenal, and the science has only just started.