Ports build system to Grunt. Adds linter and fixes found issues.

Check out the [README.md](https://github.com/baalexander/roslibjs/blob/new_build/utils/README.md) inside the utils directory for instructions on installing an running the new build system. I will be happy to help and clarify any documentation.

In addition to adding Grunt, this pull request also adds a linter using [JSHint](http://jshint.com/). It found several issues. Most were minor (trailing spaces, != instead of !==), but some were major (calling non-existant functions).

I also got Grunt to generate documentation, but held off on committing the updated docs as it would ruin this already large diff.

Once again, if any questions on how to use this, or if the documentation needs a better explanation, let me know!