ORCAStar/Init Service

# This service contains initial input data, such as:
# - agent's identifier (optional); 
# - start and goal positions;
# - algorthm options (see EnvironmentOptions and AgentParam classes);
# - static obstacles in for of polygons. 

---
int64 id
geometry_msgs/Point32 start
geometry_msgs/Point32 goal
float32 radius
float32 speed
int64 agentMaxNum
float32 timeBoundary
float32 sightRadius
float32 timeBoundaryObst
float32 delta
geometry_msgs/Polygon[] Obstacles