index.php provides and example of that.
Or, if you want to keep the callbacks in PHP (perhaps for tighter integration with existing code), you can use a library like httpful to easily make REST callouts. Normally httpful is distributed via a phar, but is included here as Heroku (which is optional to use with Canvas) does not support phar's normally.index-httpful.php is an example of that.
Updated to Spring '13.If you want to try these apps in your Canvas, here are the installation links:
https://login.salesforce.com/services/forceconnectedapps/josh2013/Josh https://login.salesforce.com/services/forceconnectedapps/josh2013/Josh2
Note: As of recently, you'll need to modify the app permissions to admin configured users instead of all users. You can then add the appropriate profiles to the app for use.