From e2c7e54a31e40fb8bc99cc938034defd04bed08c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20H=C3=B8gden?=
 <157955984+Andeshog@users.noreply.github.com>
Date: Tue, 18 Feb 2025 15:31:05 +0100
Subject: [PATCH] feat: action definition for hybridpath guidance (#21)

* feat: add hybridpath action

* feat: add header to Waypoints msg
---
 CMakeLists.txt                   |  1 +
 action/HybridpathGuidance.action | 10 ++++++++++
 msg/Waypoints.msg                |  3 +--
 3 files changed, 12 insertions(+), 2 deletions(-)
 create mode 100644 action/HybridpathGuidance.action

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ea1bbae..d277307 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,6 +41,7 @@ set(action_files
   "action/ReferenceFilterWaypoint.action"
   "action/VtfGuidance.action"
   "action/LOSGuidance.action"
+  "action/HybridpathGuidance.action"
 )
 
 # Generate ROS 2 message interfaces
diff --git a/action/HybridpathGuidance.action b/action/HybridpathGuidance.action
new file mode 100644
index 0000000..4c96537
--- /dev/null
+++ b/action/HybridpathGuidance.action
@@ -0,0 +1,10 @@
+# Goal
+vortex_msgs/Waypoints waypoints
+
+---
+# Result
+bool success
+
+---
+# Feedback
+vortex_msgs/HybridpathReference feedback
diff --git a/msg/Waypoints.msg b/msg/Waypoints.msg
index 28f565e..818e837 100644
--- a/msg/Waypoints.msg
+++ b/msg/Waypoints.msg
@@ -1,3 +1,2 @@
-# Array of points
-
+std_msgs/Header header
 geometry_msgs/Point[] waypoints