refactor folder structure + removing ROS framework specific files from master branch

Dear Walter, dear Sebastian,
I restructured the source and header files into src and include directories. Additionally I deleted the rosdep, manifest and makefile from the master branch, since this branch should be always framework independent. 

I created two other branched under my fork: rosbuild and catkin. There I added the build specific files.

In my opinion the main changes will be always done on the master branch and be merged into the two other branches at the same time. 

If there are build specific changes they will be only done in the respective branch.

What do you think!?

Best,
Frederik