[Feature request]: Add a name field to Waypoint.msg

[chianfern]

Before proceeding, is there an existing issue or discussion for this?

• I have done a search for similar issues and discussions.

Description

Should Waypoint.msg include an optional field to identify the waypoint?
A name or id field would describe the location represented and remain stable when a map is updated.
Without a name, systems that need to associate waypoints with named locations would have to maintain a separate lookup table based on float coordinates.

Implementation Considerations

No response

Alternatives

No response

Additional information

No response

[arjo129]

Thanks for the suggestion! I can definitely see how stable IDs are useful for higher-level state machines and fleet management.

However, I have some concerns about adding this directly to Waypoint.msg. Because Waypoint.msg is heavily used in Plan.msg for free-space planning, adding a name field introduces a few issues:

1. It forces the plan server to take on the logic of tracking and managing string names, which breaks separation of concerns.
2. If a physical location shifts, a replan is required anyway, so the planner still needs the updated float coordinates regardless of the name attached to them.

Architecturally, it usually makes sense to keep semantic mapping (names/IDs) in a completely separate translation layer that feeds coordinates down to the geometric planner.

Could you share a bit more about the specific system or lookup problem you're running into? There might be a way we can support your use case through a higher-level package without changing the core message structure.