Here's the link to all SF/HA docs for version 5.0 for Linux:
http://sfdoccentral.symantec.com/Storage_Foundation_HA_50_Linux.html
The Oracle Guide is called
Cluster Server Agent for Oracle Installation and Configuration Guide.
You will find examples of Service Groups in this manual. Best if each Instance has not only its own volumes, but also its own diskgroup. This will enable you to create separate Service Groups with each Instance functioning independant of other instances, allowing you to online, offline, switch Instances without affecting other database instances. In the event of a failure, the entire SG needs to be offlined on the active node and brought online on the 2nd node.
If you have SF/HA for Oracle license key, the Oracle agent is included by default.
The manual will tell how where to find the agent on your install media and how to install it.
If you upgrade to version 5.1, all database agents are included with SF/HA license.