Make CMakeLists conform to catkin guildelines #50
Description
As per: https://wiki.ros.org/catkin/CMakeLists.txt#catkin_package.28.29
Right now there are lot of hard-coded and magic values in the CMakeLists (e.g. a hard-coded python bindings install directory). This is something that catkin should be able to handle for us, if we can use it.