MAS-DT update mission_plan message
- rename?
-
convert actions into a oneOf list of enumerated schemas with the current action definition being the default
- goto (list of waypoints with a single shared radius)
- yo (define minimal list of variables from yo file which ORI can set and iterate)
- convert all geometries to GeoJSON $refs
-
create a mission_plan_slocum message definition
- add validation rules for which actions can be specified
- initially exactly 1 goto
- then at least 1 action and at most 1 goto and 1 yo action