Raw Message Definition
# Frontier is a line segment through which a robot can go.
# First point
# Second point, so that angle(r-p1, r-p2) is positive, where r is crossing center.
# Segment length, i.e. width of free space
# Angle between x-axis and line between origin and frontier middle. Where x-axis
# and origin refer to the data from which the frontier is computed, in general a LaserScan.
Compact Message Definition