Premier jet du pathfinder avec topic :
	* pathfinderState
		uint8 EN_COURS=0
		uint8 LIBRE=1
		uint8 SUCCES=2
		uint8 ECHEC=2
		int16 id
		uint8 state
	* pathFound
		int16 id
		geometry_msgs/Pose[] path
		  geometry_msgs/Point position
		    float64 x
		    float64 y
		    float64 z
		  geometry_msgs/Quaternion orientation
		    float64 x
		    float64 y
		    float64 z
		    float64 w
Et le service :
	* generatePath
		geometry_msgs/Pose Arrivee
		  geometry_msgs/Point position
		    float64 x
		    float64 y
		    float64 z
		  geometry_msgs/Quaternion orientation
		    float64 x
		    float64 y
		    float64 z
		    float64 w
		geometry_msgs/Pose Depart
		  geometry_msgs/Point position
		    float64 x
		    float64 y
		    float64 z
		  geometry_msgs/Quaternion orientation
		    float64 x
		    float64 y
		    float64 z
		    float64 w
		bool utilisePositionOdometry
		---
		bool requeteAcceptee

Pour lancer le noeud :
	rosrun rbqt_pathfinder server

Le code doit être testé, commenté, etc ...