first pass of core module

The first pass of the core module is complete. The old ros.js has been pulled apart into its respective objects and moved to the new ROSLIB namespace. Note that two API changes will break compatibility but they are relatively easy to find/replace: ROSLIB.Topic (old ros.Topic) and ROSLIB.Service (old ros.Service) now require a Ros handle to be provided as an argument. 

Additional goodies included in this pull request is the fill conversion of the ROSLIB namespace within /core, a build file create (using ant) that creates a single roslib.js, roslib.min.js, and generates all JSDOC.