diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6bdc14c..578105e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,52 +27,30 @@ set(dependencies
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Option.msg"
-  "msg/KeyValue.msg"
-  "msg/VehicleFeedback.msg"
-  "msg/NavigationOptions.msg"
-  "msg/VehicleCommand.msg"
+  # Messages
+  "msg/CortexCommand.msg"
+  "msg/CortexFeedback.msg"
   "msg/CortexStatus.msg"
   "msg/FlowCommand.msg"
-  "msg/BagRecording.msg"
-  "msg/BagRecordingStatus.msg"
-  "msg/ReferenceTarget.msg"
+  "msg/HttpRequest.msg"
+  "msg/HttpResponse.msg"
+  "msg/KeyValue.msg"
   "msg/NavigationCommand.msg"
   "msg/NavigationFeedback.msg"
-  "msg/CortexCommand.msg"
-  "msg/CortexFeedback.msg"
+  "msg/NavigationOptions.msg"
+  "msg/Option.msg"
+  "msg/ReferenceTarget.msg"
   "msg/RouteNavGoal.msg"
-  "msg/RouteNode.msg"
-  "msg/RouteEdge.msg"
-  "msg/Route.msg"
-  "msg/HttpRequest.msg"
-  "msg/HttpResponse.msg"
-  "msg/MapIdNamePair.msg"
-  "msg/GeoBoundary.msg"
-  "msg/StorageSummary.msg"
-  "srv/FetchRouteNode.srv"
-  "srv/ModifyRouteNode.srv"
-  "srv/ModifyRouteEdge.srv"
-  "srv/ListRouteGraphs.srv"
-  "srv/ManageRouteGraph.srv"
+  "msg/VehicleCommand.msg"
+  "msg/VehicleFeedback.msg"
+
+  # Services
   "srv/CommandCortexFlow.srv"
-  "srv/ModifyCortexQueue.srv"
-  "srv/ListVehicleOptions.srv"
   "srv/ListPathLogicOptions.srv"
   "srv/ListReferenceTargets.srv"
-  "srv/LoadMap.srv"
-  "srv/StartBagRecording.srv"
-  "srv/StopBagRecording.srv"
-  "srv/GetBagRecordingStatus.srv"
-  "srv/ListBagRecordings.srv"
-  "srv/DeleteMap.srv"
-  "srv/ListMaps.srv"
-  "srv/StorageStartSession.srv"
-  "srv/StorageStopSession.srv"
-  "srv/StorageRemoveSession.srv"
-  "srv/StorageSaveSession.srv"
+  "srv/ListVehicleOptions.srv"
+  "srv/ModifyCortexQueue.srv"
   "srv/VehicleJointCommand.srv"
-  "action/GenerateOfflineMap.action"
   DEPENDENCIES ${dependencies}
 )
 
diff --git a/action/GenerateOfflineMap.action b/action/GenerateOfflineMap.action
deleted file mode 100644
index e09b663..0000000
--- a/action/GenerateOfflineMap.action
+++ /dev/null
@@ -1,23 +0,0 @@
-## Request
-
-# Name of the bag / data source (Required)
-string data_source
-
-# Name of the map (Recommended: default name - timestamp)
-string map_name
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# 16-bit unique identification number
-uint16 map_id
-
-# Error messages
-string error
----
-## Feedback
-
-# Indicate if the map generation is currently in progress
-bool is_generating
diff --git a/msg/BagRecording.msg b/msg/BagRecording.msg
deleted file mode 100644
index f352ba9..0000000
--- a/msg/BagRecording.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-string bag_name
-uint64 size_bytes
-string[] files
diff --git a/msg/BagRecordingStatus.msg b/msg/BagRecordingStatus.msg
deleted file mode 100644
index 1ccdf31..0000000
--- a/msg/BagRecordingStatus.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-bool is_recording
-# Name of the currently recording bag file (empty if not recording)
-string bag_name
-# Time elapsed since the start of current recording in seconds (0 if not recording)
-uint32 time_elapsed
-string recorded_topics
-uint32 planned_duration
diff --git a/msg/GeoBoundary.msg b/msg/GeoBoundary.msg
deleted file mode 100644
index e23b35d..0000000
--- a/msg/GeoBoundary.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-# GPS coordinates defining the corners of a geographic boundary
-
-sensor_msgs/NavSatFix bottom_left
-sensor_msgs/NavSatFix bottom_right
-sensor_msgs/NavSatFix top_left
-sensor_msgs/NavSatFix top_right
diff --git a/msg/MapIdNamePair.msg b/msg/MapIdNamePair.msg
deleted file mode 100644
index 2be83b4..0000000
--- a/msg/MapIdNamePair.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# Pair of map ID and name
-uint16 map_id
-string map_name
diff --git a/msg/Route.msg b/msg/Route.msg
deleted file mode 100644
index 6e0d537..0000000
--- a/msg/Route.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-# UUID of map that route-graph belongs to
-uint16 map_id
-
-# Name of the route-graph
-string route_graph_name
-
-# Nodes of the route-graph
-polymath_msgs/RouteNode[] nodes
-
-# Edges of the route-graph
-polymath_msgs/RouteEdge[] edges
diff --git a/msg/RouteEdge.msg b/msg/RouteEdge.msg
deleted file mode 100644
index d513b11..0000000
--- a/msg/RouteEdge.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-# The starting node of the edge
-uint16 from_node_id
-
-# The ending node of the edge
-uint16 to_node_id
-
-# 16-bit unique identification number of the edge
-uint16 edge_id
-
-# The cost/penalty of traversing this edge
-uint16 edge_cost
diff --git a/msg/RouteNode.msg b/msg/RouteNode.msg
deleted file mode 100644
index f555fc0..0000000
--- a/msg/RouteNode.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-# UUID of the route node
-uint16 node_id
-
-# Position of the route node
-geometry_msgs/Point position
-
-# Optional, default: none
-string node_name
diff --git a/msg/StorageSummary.msg b/msg/StorageSummary.msg
deleted file mode 100644
index c795e98..0000000
--- a/msg/StorageSummary.msg
+++ /dev/null
@@ -1,20 +0,0 @@
-# Based on storage configuration, is storage available for recording?
-bool is_storage_available
-
-# Is retention enabled at the moment?
-bool is_retention_enabled
-
-# Size of bags directory in bytes
-uint64 bags_dir_size_bytes
-
-# Available disk space in bytes
-uint64 available_disk_space_bytes
-
-# Total disk space in bytes
-uint64 total_disk_space_bytes
-
-# When was the summary updated last
-builtin_interfaces/Time last_updated
-
-# Oldest bag file in buffer
-builtin_interfaces/Time oldest_bag_file_time
diff --git a/srv/DeleteMap.srv b/srv/DeleteMap.srv
deleted file mode 100644
index 7234bf1..0000000
--- a/srv/DeleteMap.srv
+++ /dev/null
@@ -1,27 +0,0 @@
-## Request
-
-# Delete Request Types (enum)
-#
-# BY_ID: Delete map by ID
-# BY_NAME: Delete map by Name
-
-uint8 BY_ID=0
-uint8 BY_NAME=1
-
-# Type of request (see options above)
-uint8 delete_request_type
-
-# Requested map's ID, if using BY_ID
-uint16 map_id
-
-# Requested map's name, if using BY_NAME
-string map_name
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error
diff --git a/srv/FetchRouteNode.srv b/srv/FetchRouteNode.srv
deleted file mode 100644
index 60c4a09..0000000
--- a/srv/FetchRouteNode.srv
+++ /dev/null
@@ -1,37 +0,0 @@
-## Request
-
-# ID of the map that the route belongs to
-uint16 map_id
-
-# Name of the route graph that the edge belongs to
-string route_graph_name
-
-# Request Type (Enum)
-#
-# ID: Request fetch by ID
-# NAME: Request fetch by name
-uint8 ID=0
-uint8 NAME=1
-
-# Fetch request type
-# (See available options above)
-#
-# default: ID
-uint8 request_type
-
-# Required if request_type=ID. UUID of the route node
-uint16 node_id
-
-# Required if request_type=NAME. Name of the route node
-string node_name
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Route node details
-polymath_msgs/RouteNode node
-
-# Error messages
-string message
diff --git a/srv/GetBagRecordingStatus.srv b/srv/GetBagRecordingStatus.srv
deleted file mode 100644
index a63a94e..0000000
--- a/srv/GetBagRecordingStatus.srv
+++ /dev/null
@@ -1,7 +0,0 @@
-## Request
-
----
-## Response
-bool success
-string error
-BagRecordingStatus status
diff --git a/srv/ListBagRecordings.srv b/srv/ListBagRecordings.srv
deleted file mode 100644
index 2857b61..0000000
--- a/srv/ListBagRecordings.srv
+++ /dev/null
@@ -1,13 +0,0 @@
-## Request
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Bag file names (excluding path)
-BagRecording[] bag_recordings
-
-# Error messages
-string error
diff --git a/srv/ListMaps.srv b/srv/ListMaps.srv
deleted file mode 100644
index c6c76cb..0000000
--- a/srv/ListMaps.srv
+++ /dev/null
@@ -1,13 +0,0 @@
-## Request
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# List of maps
-MapIdNamePair[] maps_list
-
-# Error messages
-string error
diff --git a/srv/ListRouteGraphs.srv b/srv/ListRouteGraphs.srv
deleted file mode 100644
index 0d42e78..0000000
--- a/srv/ListRouteGraphs.srv
+++ /dev/null
@@ -1,15 +0,0 @@
-## Request
-
-# Required. UUID of the map corresponding to the route graph
-uint16 map_id
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# List of names of all route-graphs
-string[] route_graphs_list
-
-# Error messages
-string message
diff --git a/srv/LoadMap.srv b/srv/LoadMap.srv
deleted file mode 100644
index 85bf342..0000000
--- a/srv/LoadMap.srv
+++ /dev/null
@@ -1,30 +0,0 @@
-## Request
-
-# Load Request Types (enum)
-#
-# BY_ID: Load map by ID
-# BY_NAME: Load map by Name
-
-uint8 BY_ID=0
-uint8 BY_NAME=1
-
-# Type of request (see options above)
-uint8 load_request_type
-
-# Requested map's ID, if using BY_ID
-uint16 map_id
-
-# Requested map's name, if using BY_NAME
-string map_name
-
-# Initial pose for localization (Not implemented currently)
-geometry_msgs/PoseWithCovarianceStamped initial_pose
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string message
diff --git a/srv/ManageRouteGraph.srv b/srv/ManageRouteGraph.srv
deleted file mode 100644
index 6984204..0000000
--- a/srv/ManageRouteGraph.srv
+++ /dev/null
@@ -1,36 +0,0 @@
-## Request
-
-# Operation Types (enum)
-#
-# FETCH: Get details of a route graph
-# ADD: Add full route graph
-# LOAD: Load a route graph for navigation
-# DELETE: Remove a saved route graph
-
-uint8 FETCH=0
-uint8 ADD=1
-uint8 LOAD=2
-uint8 DELETE=3
-
-# Define the type of operation (see options above)
-uint8 operation
-
-# ID of the map that the route belongs to
-uint16 map_id
-
-# Name of the route graph
-string route_graph_name
-
-# Route graph details, for ADD operation
-polymath_msgs/Route route_graph
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Route graph details, for FETCH operation
-polymath_msgs/Route route_graph
-
-# Error messages
-string message
diff --git a/srv/ModifyRouteEdge.srv b/srv/ModifyRouteEdge.srv
deleted file mode 100644
index 1f60942..0000000
--- a/srv/ModifyRouteEdge.srv
+++ /dev/null
@@ -1,32 +0,0 @@
-## Request
-
-# Operation Types (enum)
-#
-# ADD: Add a new edge
-# DELETE: Remove an existing edge
-
-uint8 ADD=0
-uint8 DELETE=1
-
-# Define the type of operation (see options above)
-uint8 operation
-
-# ID of the map that the route belongs to
-uint16 map_id
-
-# Name of the route graph that the edge belongs to
-string route_graph_name
-
-# Required. Details of the edge to modify
-polymath_msgs/RouteEdge edge
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# 16-bit unique identification number of the edge
-uint16 edge_id
-
-# Error messages
-string message
diff --git a/srv/ModifyRouteNode.srv b/srv/ModifyRouteNode.srv
deleted file mode 100644
index 207f525..0000000
--- a/srv/ModifyRouteNode.srv
+++ /dev/null
@@ -1,34 +0,0 @@
-## Request
-
-# Operation Types (enum)
-#
-# ADD: Add a new node
-# DELETE: Remove an existing node
-# EDIT: Edit an existing node
-
-uint8 ADD=0
-uint8 DELETE=1
-uint8 EDIT=2
-
-# Define the type of operation (see options above)
-uint8 operation
-
-# ID of the map that the route belongs to
-uint16 map_id
-
-# Name of the route graph that the edge belongs to
-string route_graph_name
-
-# Route node details
-polymath_msgs/RouteNode node
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# 16-bit unique identification number
-uint16 node_id
-
-# Error messages
-string message
diff --git a/srv/StartBagRecording.srv b/srv/StartBagRecording.srv
deleted file mode 100644
index 3154851..0000000
--- a/srv/StartBagRecording.srv
+++ /dev/null
@@ -1,26 +0,0 @@
-## Request
-
-# Bag file suffix (optional, recommended)
-string bag_suffix
-
-# The following fields will be checked for data in-order (optional)
-string[] include # Topics to include in the bag file - matched exactly
-string[] include_regex # Topics to include in the bag file - matched using regex
-string[] exclude_regex # Topics to exclude from the bag file - matched using regex
-string topic_profile # Topic profile to use for recording
-
-# Record for pre-set time duration in seconds (optional)
-# Default 0: record until manually stopped or max time limit reached
-uint32 record_duration
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Bag file name (excluding path)
-string bag_name
-
-# Error messages
-string error
diff --git a/srv/StopBagRecording.srv b/srv/StopBagRecording.srv
deleted file mode 100644
index a6de5d8..0000000
--- a/srv/StopBagRecording.srv
+++ /dev/null
@@ -1,13 +0,0 @@
-## Request
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Bag file name (excluding path)
-string bag_name
-
-# Error messages
-string error
diff --git a/srv/StorageRemoveSession.srv b/srv/StorageRemoveSession.srv
deleted file mode 100644
index 0b83151..0000000
--- a/srv/StorageRemoveSession.srv
+++ /dev/null
@@ -1,13 +0,0 @@
-## Request
-
-# File/session name
-string name
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error
diff --git a/srv/StorageSaveSession.srv b/srv/StorageSaveSession.srv
deleted file mode 100644
index 521cceb..0000000
--- a/srv/StorageSaveSession.srv
+++ /dev/null
@@ -1,19 +0,0 @@
-## Request
-
-# Start time for retention
-builtin_interfaces/Time start_time
-
-# End time for retention
-builtin_interfaces/Time end_time
-
-# Session suffix (optional, recommended)
-string session_suffix
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error
diff --git a/srv/StorageStartSession.srv b/srv/StorageStartSession.srv
deleted file mode 100644
index 37221a6..0000000
--- a/srv/StorageStartSession.srv
+++ /dev/null
@@ -1,13 +0,0 @@
-## Request
-
-# Session suffix (optional, recommended)
-string session_suffix
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error
diff --git a/srv/StorageStopSession.srv b/srv/StorageStopSession.srv
deleted file mode 100644
index ee55984..0000000
--- a/srv/StorageStopSession.srv
+++ /dev/null
@@ -1,10 +0,0 @@
-## Request
-
----
-## Response
-
-# Indicate successful run of service
-bool success
-
-# Error messages
-string error