diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a8bdbebe002cccd00c6b33f028435a5d4d3499b..e076a609c2fde752e9b5d537e130d47193d58f1b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,8 +52,8 @@ add_message_files(
   FILES
   adc_goal.msg
   adc_goal_array.msg
-  landmark.msg
-  landmark_array.msg
+  feature.msg
+  feature_array.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/landmark.msg b/msg/feature.msg
similarity index 100%
rename from msg/landmark.msg
rename to msg/feature.msg
diff --git a/msg/feature_array.msg b/msg/feature_array.msg
new file mode 100644
index 0000000000000000000000000000000000000000..be0ff1449f567ede9bcfdaf853edff429a4c5458
--- /dev/null
+++ b/msg/feature_array.msg
@@ -0,0 +1,2 @@
+Header     header
+feature[] features
diff --git a/msg/landmark_array.msg b/msg/landmark_array.msg
deleted file mode 100644
index ab8e23f2fe18607e3ce79d5218d278908fc70d20..0000000000000000000000000000000000000000
--- a/msg/landmark_array.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-Header     header
-landmark[] landmarks