I was going to use Asterisk and set up my own IP-PBX but, I will still need a SIP gateway provider? And, that costs money.
I guess the real question, is there anyway I can set my system up so I can make free internet phone calls over the internet? Anyway around the SIP gateway provider.

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It is my opinion that if you are giong to use IP, you should use a trusted vendor such as Siemens, Avaya, Nortel, Cisco, etc. The features will be far more rich than a SIP system that you may set up yourself. Just my 2 cents though!