Created an program based off of the template supplied by the ROS wiki

Most of the interesting things that need to be done between ROS and
openCV are done in this file. Just need to add in my previous code and
create a separate calibrate program.
Added boilerplate catkin configuration to make it makeable

Created a package for image_unwarp and added image_unwarp_node as a
node.
Decided to use the parameter server to pass calibration information

The calibrate node sets parameters one time, presumably right when the
robot is started. Then the image_unwarp node gets the parameters from
the server.
Added image unwarping code from my personal files to image_unwarp.cpp

The code hasn't been tested yet. The calibration code is still only
setting constants in the parameter server (which is probably for the
best until the image_unwarp.cpp code is tested.