diff --git a/CMakeLists.txt b/CMakeLists.txt
index e6bf5126c399c2093b5a0c5c6d598cc627fd24a6..f0a00f931c68aedbf315ea51555e08c7dd4b50cf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(iri_lane_Detection_msgs)
+project(iri_adc_msgs)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -8,6 +8,9 @@ project(iri_lane_Detection_msgs)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  nav_msgs
+  actionlib_msgs
+  geometry_msgs
   message_generation
   std_msgs
 )
@@ -48,27 +51,31 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate messages in the 'msg' folder
 add_message_files(
   FILES
-  lane.msg
-  lanes.msg
+  adc_goal.msg
+  adc_goal_array.msg
+  feature.msg
+  feature_array.msg
 )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
+add_service_files(
+  FILES
+  get_opendrive_map.srv
 #   Service1.srv
 #   Service2.srv
-#)
+)
 
 ## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
+add_action_files(
+  FILES
+  adc_jury.action
 #   Action2.action
-#)
+)
 
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
-  std_msgs
+  nav_msgs actionlib_msgs geometry_msgs std_msgs
 )
 
 ################################################
@@ -102,7 +109,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES iri_lane_Detection_msgs
+#  LIBRARIES iri_adc_msgs
 #  CATKIN_DEPENDS actionlib_msgs geometry_msgs message_generation std_msgs
 #  DEPENDS system_lib
 )
@@ -120,7 +127,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/iri_lane_Detection_msgs.cpp
+#   src/${PROJECT_NAME}/iri_adc_msgs.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -131,7 +138,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/iri_lane_Detection_msgs_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/iri_adc_msgs_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -195,7 +202,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_lane_Detection_msgs.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_adc_msgs.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/action/adc_jury.action b/action/adc_jury.action
new file mode 100644
index 0000000000000000000000000000000000000000..1052cd43f9f30217de17643b51ab1c18c94c7725
--- /dev/null
+++ b/action/adc_jury.action
@@ -0,0 +1,9 @@
+###action
+#goals
+adc_goal_array goals
+---
+#result
+---
+#feedback
+string status
+geometry_msgs/PoseStamped base_position
diff --git a/msg/adc_goal.msg b/msg/adc_goal.msg
new file mode 100644
index 0000000000000000000000000000000000000000..1f3d1d3f19dacf1c2ea1d0ab362f325c5150a4c9
--- /dev/null
+++ b/msg/adc_goal.msg
@@ -0,0 +1,10 @@
+#type definitions
+uint8 PASSTHROUGH_GOAL=0
+uint8 STOP_GOAL=1
+uint8 PARKING_GOAL=2
+
+string id       # goal identifier
+float32 x       # x coordinates in meters [m]
+float32 y       # y coordinate in meters [m]
+float32 yaw     # yaw orientation in radians [rad]
+int32 type      # see type definitions above
diff --git a/msg/lanes.msg b/msg/adc_goal_array.msg
similarity index 51%
rename from msg/lanes.msg
rename to msg/adc_goal_array.msg
index 788a843a3e25f4fd4f9d2ccea242f6563599f642..72fa1405a4e13a0950a534ad6a3eb2c2446f370b 100644
--- a/msg/lanes.msg
+++ b/msg/adc_goal_array.msg
@@ -1,2 +1,2 @@
 Header     header
-lane[]     lanes
+adc_goal[] goals
diff --git a/msg/feature.msg b/msg/feature.msg
new file mode 100644
index 0000000000000000000000000000000000000000..0247882eb2232e2e9fc2cfc721e082d5b8dff956
--- /dev/null
+++ b/msg/feature.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Pose pose
+float32 probability
+int32 type
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/lane.msg b/msg/lane.msg
deleted file mode 100644
index 6ef182fc6e1ff447b381d1dbad3d75b5e300f228..0000000000000000000000000000000000000000
--- a/msg/lane.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float32[] lane_x
-float32[] lane_y
diff --git a/package.xml b/package.xml
index 65401af2c4143c64c30470120fda73c3cee18424..8e6b77744c983f47119f36ef2a1c881f9db4ec88 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>iri_lane_Detection_msgs</name>
+  <name>iri_adc_msgs</name>
   <version>1.0.0</version>
-  <description>The iri_lane_Detection_msgs package</description>
+  <description>The iri_adc_msgs package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/iri_lane_Detection_msgs</url> -->
+  <!-- <url type="website">http://wiki.ros.org/iri_adc_msgs</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -49,10 +49,19 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/srv/get_opendrive_map.srv b/srv/get_opendrive_map.srv
new file mode 100644
index 0000000000000000000000000000000000000000..1105052ec9ed0e9329a5a1e119ecd61f2600f513
--- /dev/null
+++ b/srv/get_opendrive_map.srv
@@ -0,0 +1,2 @@
+---
+nav_msgs/OccupancyGrid opendrive_map