diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 1325e67..60adde6 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -18,7 +18,7 @@ jobs:
   test-definitions:
     # sailbot_workspace: use locally-defined file
     # other repositories: set to UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@<release>
-    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.5.1
+    uses: UBCSailbot/sailbot_workspace/.github/workflows/test_definitions.yml@v1.6.0
     # see https://github.com/UBCSailbot/sailbot_workspace/blob/main/.github/workflows/test_definitions.yml
     # for documentation on the inputs and secrets below
     with:
diff --git a/.markdownlint.json b/.markdownlint.json
deleted file mode 100644
index 16a0377..0000000
--- a/.markdownlint.json
+++ /dev/null
@@ -1,21 +0,0 @@
-{
-  "default": true,
-  "MD013": {
-    "line_length": 120,
-    "code_blocks": false,
-    "tables": false
-  },
-  "MD004": {
-    "style": "dash"
-  },
-  "MD007": {
-    "indent": 4
-  },
-  "MD035": {
-    "style": "---"
-  },
-  "MD033": false,
-  "MD040": false,
-  "MD041": false,
-  "MD046": false
-}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 360a924..2223c0a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,8 +57,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${simulator_msg}
   ${simulator_action}
 
-  "srv/GlobalPath.srv"
-
   # Add packages that above messages depend on below if needed
   DEPENDENCIES std_msgs geometry_msgs
 )
diff --git a/README.md b/README.md
index dc11db7..1b75fb5 100644
--- a/README.md
+++ b/README.md
@@ -19,22 +19,22 @@ Formatting reminder:
 1. Keep 'Type' column organized alphabetically
 2. 'mock' version of topic should be after its common counterpart
 --->
-| Topic                  | File Name           | Publisher                            | Subscriber(s)                                      |
-| ---------------------- | ------------------- | ------------------------------------ | ---------------------------------------------------|
-| `ais_ships`            | AISShips.msg        | CanTrxRosIntf                        | Local Pathfinding, Local Transceiver               |
-| `mock_ais_ships`       | AISShips.msg        | Mock AIS                             | CanSimIntf                                         |
-| `batteries`            | Batteries.msg       | CanTrxRosIntf                        | Local Transceiver                                  |
-| `boat_sim_input`       | CanSimToBoatSim.msg | CanSimIntf                           | Boat Simulator                                     |
-| `desired_heading`      | DesiredHeading.msg  | Local Pathfinding                    | CanTrxRosIntf                                      |
-| `data_sensors`         | GenericSensors.msg  | CanTrxRosIntf                        | Local Transceiver                                  |
-| `gps`                  | GPS.msg             | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
-| `mock_gps`             | GPS.msg             | Boat Simulator                       | CanSimIntf                                         |
-| `local_path_data`      | LPathData.msg       | Local Pathfinding                    | Local Transceiver                                  |
-| `global_path`          | GlobalPath.srv      | Local Transceiver, Mock Global Path  | Local Pathfinding                                  |
-| `sail_cmd`             | SailCmd.msg         | Controller                           | CanTrxRosIntf                                      |
-| `filtered_wind_sensor` | WindSensor.msg      | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
-| `wind_sensors`         | WindSensors.msg     | CanTrxRosIntf                        | Local Transceiver                                  |
-| `mock_wind_sensors`    | WindSensors.msg     | Boat Simulator                       | CanSimIntf                                         |
+| Topic                  | Type            | Publisher                            | Subscriber(s)                                      |
+| ---------------------- | --------------  | ------------------------------------ | -------------------------------------------------- |
+| `ais_ships`            | AISShips        | CanTrxRosIntf                        | Local Pathfinding, Local Transceiver               |
+| `mock_ais_ships`       | AISShips        | Mock AIS                             | CanSimIntf                                         |
+| `batteries`            | Batteries       | CanTrxRosIntf                        | Local Transceiver                                  |
+| `boat_sim_input`       | CanSimToBoatSim | CanSimIntf                           | Boat Simulator                                     |
+| `desired_heading`      | DesiredHeading  | Local Pathfinding                    | CanTrxRosIntf                                      |
+| `data_sensors`         | GenericSensors  | CanTrxRosIntf                        | Local Transceiver                                  |
+| `gps`                  | GPS             | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
+| `mock_gps`             | GPS             | Boat Simulator                       | CanSimIntf                                         |
+| `local_path_data`      | LPathData       | Local Pathfinding                    | Local Transceiver                                  |
+| `global_path`          | Path            | Local Transceiver, Mock Global Path  | Local Pathfinding                                  |
+| `sail_cmd`             | SailCmd         | Controller                           | CanTrxRosIntf                                      |
+| `filtered_wind_sensor` | WindSensor      | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
+| `wind_sensors`         | WindSensors     | CanTrxRosIntf                        | Local Transceiver                                  |
+| `mock_wind_sensors`    | WindSensors     | Boat Simulator                       | CanSimIntf                                         |
 
 ### Project-wide Internal Interfaces
 
@@ -55,9 +55,9 @@ ROS messages and services used in our [boat simulator](https://github.com/UBCSai
 
 ### Boat Simulator External Interfaces
 
-| Topic                  | File Name          | Publisher                | Subscriber(s)                               |
-| ---------------------- | ------------------ | ------------------------ | ------------------------------------------- |
-| `mock_kinematics`      | SimWorldState.msg  | Simulator Physics Engine | Simulator Visualizer                        |
+| Topic                  | Type           | Publisher                | Subscriber(s)                               |
+| ---------------------- | -------------- | ------------------------ | ------------------------------------------- |
+| `mock_kinematics`      | SimWorldState  | Simulator Physics Engine | Simulator Visualizer                        |
 
 ### Boat Simulator Actions
 
diff --git a/srv/GlobalPath.srv b/srv/GlobalPath.srv
deleted file mode 100644
index 6f249af..0000000
--- a/srv/GlobalPath.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-Path global_path
----
-bool response