diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 35d74bb..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,51 +0,0 @@
-devel/
-logs/
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-build_isolated/
-devel_isolated/
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8122e9c..bd6d386 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,9 +17,9 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Actions.msg"
+  "msg/RunAction.msg"
+  "msg/Status.msg"
   "srv/GetActions.srv"
-  "srv/RunAction.srv"
   "srv/SaveActions.srv")
 
 ament_export_dependencies(rosidl_default_runtime)
diff --git a/msg/Actions.msg b/msg/Actions.msg
deleted file mode 100644
index 566e953..0000000
--- a/msg/Actions.msg
+++ /dev/null
@@ -1 +0,0 @@
-string json
\ No newline at end of file
diff --git a/msg/RunAction.msg b/msg/RunAction.msg
new file mode 100644
index 0000000..36e6076
--- /dev/null
+++ b/msg/RunAction.msg
@@ -0,0 +1,3 @@
+int8 control_type 0
+string action_name
+string json
diff --git a/msg/Status.msg b/msg/Status.msg
new file mode 100644
index 0000000..2eca109
--- /dev/null
+++ b/msg/Status.msg
@@ -0,0 +1 @@
+bool is_running false
diff --git a/srv/GetActions.srv b/srv/GetActions.srv
index b07f8f5..2f7030a 100644
--- a/srv/GetActions.srv
+++ b/srv/GetActions.srv
@@ -1,2 +1,2 @@
 ---
-string json
\ No newline at end of file
+string json
diff --git a/srv/RunAction.srv b/srv/RunAction.srv
deleted file mode 100644
index 44d3c3a..0000000
--- a/srv/RunAction.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-string json
----
-string status
\ No newline at end of file
diff --git a/srv/SaveActions.srv b/srv/SaveActions.srv
index 44d3c3a..cbb126a 100644
--- a/srv/SaveActions.srv
+++ b/srv/SaveActions.srv
@@ -1,3 +1,3 @@
 string json
 ---
-string status
\ No newline at end of file
+string status