Prototype for path planning service
Ability to add other boundaries (e.g. internal obstacles) and example in visualizer node
Corrected depends on cmake_modules, neatened up package.xml
Moved polygon offset into separate package
Service to fetch offset polygons
Updated godel_process_path_gen to work using externally created offset paths
Updated READMEs for path_gen and polygon_offset
Fixed bug in utils that double-added polygon to ordered list. Fixed bug in offset_polygon that didn't add any points to polygons.
Changed process_path_generator references from shared_ptr to ptr to avoid deleting NULL data
Merge pull request #12 from dpsolomon/hydro-devel

Prototype for path planning service. Ability to include multiple boundaries (including internal obstacles). Cleanup of package.xml