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This and this step by step tutorials show how to install OpenCV3 on Ubuntu 14.04.
You can build OpenCV3 from source and include the following in your CMakeLists.txt:

find_package(OpenCV 3 REQUIRED)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

target_link_libraries(foo_node
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)

You can recompile cv_bridge against OpenCV3 in the workspace. Just clone cv_bridge in your workspace.