navcon_msgs/CourseKeeping Action

### course_keeping action ###

### Primitive subtype and associated constants (flags)
uint8 subtype
uint8 COURSE_KEEPING_UA = 0
uint8 COURSE_KEEPING_FA = 1
uint8 COURSE_KEEPING_FA_HDG = 2

### Reference type and associated constants (flags)
uint8 ref_type
uint8 CONSTANT = 0
uint8 HEADING_TOPIC = 1
uint8 SPEED_TOPIC = 2
uint8 ALL_TOPIC = 3

### The goal
float32 course # Desired course to keep
float32 speed # The desired forward speed, setting the forward speed=0 will result in heading keeping
float32 yaw # The desired yaw for overactuated vehicles
string[] topics
---
### The result
int32 success # The success flag
---
### The feedback
int32 feedback # The current feedback