add calibration_setup_helper program

- setup helper program for generating calibration package for a robot

- here is how I checked the program

 - run baxter simulaiton
```
<launch>
  <include file="$(find baxter_gazebo)/launch/baxter_world.launch" />
  <anode pkg="baxter_interface" type="joint_trajectory_action_server.py"
        args="--limb both" name="joint_trajectory_action_server" />
  <node pkg="image_proc" type="image_proc" name="camera_rgb_image_proc"
        ns="/camera/rgb" />
  <node pkg="topic_tools" type="relay" args="/robot/joint_states /joint_states"
        name="joint_states_relay" />
  <node pkg="image_view" type="image_view" name="image_view_rect" >
    <remap from="image" to="/camera/rgb/image_rect" />
  </node>

</launch>
```

 - run setup helper under <catkin_ws>/src/ directory
```
(cd src; rosrun calibration_setup_helper calibration_setup_helper.py
        `rospack find baxter_description`/urdf/baxter.urdf
        --base-link 'torso' --arm-end-link 'right_gripper_base'
        --head-end-link 'camera_rgb_frame'
        --arm-controller=/robot/limb/right/command
        --head-controller=/robot/limb/head/command)
```

 - run catkin_make to register generated baxter_calibration package

 - run make_sample.py program to correct calib posture
```
rosrun baxter_calibration make_samples.py
```
   use C-c to step

 - run capture data program
```
roslaunch baxter_calibration capture_data.launch
```

 - run calibration program
```
rosrun baxter_calibration calibrate_baxter.sh
```