Added behavior that publishes tactic id

mg_obstacles/obstacles/blue-side.json

@@ -0,0 +1,94 @@
+{
+  "staticObstacleHeight": 0.4,
+  "staticObstacleWidth": 0.1,
+  "staticObstacles": [
+    {
+      "horizontal": true,
+      "x": 0.625,
+      "y": 1.775
+    },
+    {
+      "horizontal": false,
+      "x": 0,
+      "y": 0.6
+    },
+    {
+      "horizontal": false,
+      "x": 0,
+      "y": 1.525
+    },
+    {
+      "horizontal": true,
+      "x": 0.575,
+      "y": 0.3
+    },
+    {
+      "horizontal": true,
+      "x": 2.025,
+      "y": 0.3
+    },
+    {
+      "horizontal": false,
+      "x": 2.9,
+      "y": 0.6
+    },
+    {
+      "horizontal": false,
+      "x": 2.9,
+      "y": 1.525
+    },
+    {
+      "horizontal": true,
+      "x": 1.975,
+      "y": 1.775
+    },
+    {
+      "horizontal": true,
+      "x": 0.9,
+      "y": 1
+    },
+    {
+      "horizontal": true,
+      "x": 1.7,
+      "y": 1
+    }
+  ],
+    "obstacles": [
+        {
+            "height": 0.45,
+            "width": 1.95,
+            "x": 0,
+            "y": 2
+        },
+        {
+            "height": 0.45,
+            "width": 0.45,
+            "x": 1,
+            "y": 0.45
+        },
+        {
+            "height": 0.2,
+            "width": 0.4,
+            "x": 1.95,
+            "y": 2
+        },
+        {
+            "height": 0.15,
+            "width": 0.45,
+            "x": 0.55,
+            "y": 0.15
+        },
+        {
+            "height": 0.15,
+            "width": 0.45,
+            "x": 2.55,
+            "y": 0.15
+        },
+        {
+            "height": 0.45,
+            "width": 0.45,
+            "x": 2.55,
+            "y": 1.1
+        }
+    ]
+}