diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc8a0cd..7ea9737 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(action_msgs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 ################################################################################
 # Setup for python modules and scripts
@@ -46,7 +47,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
   ${action_files}
-  DEPENDENCIES action_msgs std_msgs
+  DEPENDENCIES action_msgs std_msgs geometry_msgs
   ADD_LINTER_TESTS
 )
 ament_export_dependencies(rosidl_default_runtime)
diff --git a/action/Patrol.action b/action/Patrol.action
index e5f36b8..2c0ce2c 100644
--- a/action/Patrol.action
+++ b/action/Patrol.action
@@ -1,8 +1,8 @@
-# Goal
-float32 radius
+# Define the goal
+geometry_msgs/Vector3 goal
 ---
-# Result
-bool success
+# Define the result
+string result
 ---
-# Feedback
-float32 left_time
+# Define a feedback message
+string state
diff --git a/package.xml b/package.xml
index 1b907ea..b42db77 100644
--- a/package.xml
+++ b/package.xml
@@ -22,10 +22,12 @@
   <build_depend>builtin_interfaces</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>rosidl_default_runtime</build_depend>
-  
+  <build_depend>geometry_msgs</build_depend>
+
   <exec_depend>action_msgs</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <test_depend>ament_lint_common</test_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>