Expand track proto

farm-ng · Oct 31, 2024 · 0b036f7 · 0b036f7
1 parent a999103
commit 0b036f7
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/protos/farm_ng/track/track.proto b/protos/farm_ng/track/track.proto
@@ -19,13 +19,16 @@ syntax = "proto3";
 
 import "farm_ng/core/lie.proto";
 import "farm_ng/core/pose.proto";
+import "farm_ng/canbus/tool_control.proto";
 
 package farm_ng.track.proto;
 
 // A track is a sequence of waypoints that the robot should follow or already drove.
 message Track {
   // The waypoints along the track
   repeated farm_ng.core.proto.Pose waypoints = 1;
+  // Map of key waypoints to their associated actuator command
+  map<int32, farm_ng.canbus.proto.ActuatorCommands> key_waypoint_actions = 2;
 }
 
 // This is sent to the track_follower service by a client to request a track be followed.