diff --git a/.markdownlint.json b/.markdownlint.json
index 5ac068f..16a0377 100644
--- a/.markdownlint.json
+++ b/.markdownlint.json
@@ -1,7 +1,9 @@
 {
   "default": true,
   "MD013": {
-    "line_length": 120
+    "line_length": 120,
+    "code_blocks": false,
+    "tables": false
   },
   "MD004": {
     "style": "dash"
@@ -12,6 +14,7 @@
   "MD035": {
     "style": "---"
   },
+  "MD033": false,
   "MD040": false,
   "MD041": false,
   "MD046": false
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2223c0a..360a924 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,6 +57,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${simulator_msg}
   ${simulator_action}
 
+  "srv/GlobalPath.srv"
+
   # Add packages that above messages depend on below if needed
   DEPENDENCIES std_msgs geometry_msgs
 )
diff --git a/README.md b/README.md
index 5faadef..dc11db7 100644
--- a/README.md
+++ b/README.md
@@ -19,22 +19,22 @@ Formatting reminder:
 1. Keep 'Type' column organized alphabetically
 2. 'mock' version of topic should be after its common counterpart
 --->
-| Topic                  | Type            | Publisher          | Subscriber(s)                                      |
-| ---------------------- | --------------  | ------------------ | -------------------------------------------------- |
-| `ais_ships`            | AISShips        | CanTrxRosIntf      | Local Pathfinding, Local Transceiver               |
-| `mock_ais_ships`       | AISShips        | Mock AIS           | CanSimIntf                                         |
-| `batteries`            | Batteries       | CanTrxRosIntf      | Local Transceiver                                  |
-| `boat_sim_input`       | CanSimToBoatSim | CanSimIntf         | Boat Simulator                                     |
-| `desired_heading`      | DesiredHeading  | Local Pathfinding  | CanTrxRosIntf                                      |
-| `data_sensors`         | GenericSensors  | CanTrxRosIntf      | Local Transceiver                                  |
-| `gps`                  | GPS             | CanTrxRosIntf      | Controller, Local Transceiver, Local Pathfinding   |
-| `mock_gps`             | GPS             | Boat Simulator     | CanSimIntf                                         |
-| `local_path_data`      | LPathData       | Local Pathfinding  | Local Transceiver                                  |
-| `global_path`          | Path            | Local Transceiver  | Local Pathfinding                                  |
-| `sail_cmd`             | SailCmd         | Controller         | CanTrxRosIntf                                      |
-| `filtered_wind_sensor` | WindSensor      | CanTrxRosIntf      | Controller, Local Transceiver, Local Pathfinding   |
-| `wind_sensors`         | WindSensors     | CanTrxRosIntf      | Local Transceiver                                  |
-| `mock_wind_sensors`    | WindSensors     | Boat Simulator     | CanSimIntf                                         |
+| Topic                  | File Name           | Publisher                            | Subscriber(s)                                      |
+| ---------------------- | ------------------- | ------------------------------------ | ---------------------------------------------------|
+| `ais_ships`            | AISShips.msg        | CanTrxRosIntf                        | Local Pathfinding, Local Transceiver               |
+| `mock_ais_ships`       | AISShips.msg        | Mock AIS                             | CanSimIntf                                         |
+| `batteries`            | Batteries.msg       | CanTrxRosIntf                        | Local Transceiver                                  |
+| `boat_sim_input`       | CanSimToBoatSim.msg | CanSimIntf                           | Boat Simulator                                     |
+| `desired_heading`      | DesiredHeading.msg  | Local Pathfinding                    | CanTrxRosIntf                                      |
+| `data_sensors`         | GenericSensors.msg  | CanTrxRosIntf                        | Local Transceiver                                  |
+| `gps`                  | GPS.msg             | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
+| `mock_gps`             | GPS.msg             | Boat Simulator                       | CanSimIntf                                         |
+| `local_path_data`      | LPathData.msg       | Local Pathfinding                    | Local Transceiver                                  |
+| `global_path`          | GlobalPath.srv      | Local Transceiver, Mock Global Path  | Local Pathfinding                                  |
+| `sail_cmd`             | SailCmd.msg         | Controller                           | CanTrxRosIntf                                      |
+| `filtered_wind_sensor` | WindSensor.msg      | CanTrxRosIntf                        | Controller, Local Transceiver, Local Pathfinding   |
+| `wind_sensors`         | WindSensors.msg     | CanTrxRosIntf                        | Local Transceiver                                  |
+| `mock_wind_sensors`    | WindSensors.msg     | Boat Simulator                       | CanSimIntf                                         |
 
 ### Project-wide Internal Interfaces
 
@@ -55,9 +55,9 @@ ROS messages and services used in our [boat simulator](https://github.com/UBCSai
 
 ### Boat Simulator External Interfaces
 
-| Topic                  | Type           | Publisher                | Subscriber(s)                               |
-| ---------------------- | -------------- | ------------------------ | ------------------------------------------- |
-| `mock_kinematics`      | SimWorldState  | Simulator Physics Engine | Simulator Visualizer                        |
+| Topic                  | File Name          | Publisher                | Subscriber(s)                               |
+| ---------------------- | ------------------ | ------------------------ | ------------------------------------------- |
+| `mock_kinematics`      | SimWorldState.msg  | Simulator Physics Engine | Simulator Visualizer                        |
 
 ### Boat Simulator Actions
 
diff --git a/srv/GlobalPath.srv b/srv/GlobalPath.srv
new file mode 100644
index 0000000..6f249af
--- /dev/null
+++ b/srv/GlobalPath.srv
@@ -0,0 +1,3 @@
+Path global_path
+---
+bool response