Add Communicator class

This class is intended to house all ROS communication.

It currently "implements" the InitializeCameraService for testing.
main: Initialize ROS communication

This removes the Kinect stuff as I cannot test this.
Add some tests for the initialize_camera service

These tests are written using the ROS CLI tools and Bats.

See https://github.com/sstephenson/bats for infomation on Bats.
Add PictureSendingActivation subscriber
Add picture_sending_activation test program

Unfortunately, the program can't actually verify whether the message was
correctly received.
Fixed probable memory leak of calibration data.
* Replaced all opencv dependencies with opencv2 dependencies.
- Removed all opencv2/core/mat.hpp dependencies.
Started working on tracking
Merge branch 'master' into communicator

Conflicts:
	CMakeLists.txt
	src/main.cpp
Implement picture sending activation
Save initialize_camera parameters
Add Picture message type
Add sendPicture function

Not quite sure about the signature we actually need here...
+ Added TestTracker
* Removed boost::chrono dependency
+ Finished image masking function
Made colors use uint8_t
Preparations to save time for a picture taken
Removed unused code.
Created test for tracking.
Finished first version of tracking.
* Fixed: Single image was analyzed multiple times.