diff --git a/lib/src/components/board/board.dart b/lib/src/components/board/board.dart
index d9c4b7a92e7..c2c010116a2 100644
--- a/lib/src/components/board/board.dart
+++ b/lib/src/components/board/board.dart
@@ -7,6 +7,7 @@ import '../../robot/client.dart';
 
 /// Tick of a digital interrupt
 typedef Tick = StreamTicksResponse;
+typedef AnalogValue = ReadAnalogReaderResponse;
 
 /// Board represents a physical general purpose compute board that contains various
 /// components such as analog readers, and digital interrupts.
@@ -32,7 +33,7 @@ abstract class Board extends Resource {
   Future<void> setPwmFrequency(String pin, int frequencyHz, {Map<String, dynamic>? extra});
 
   /// Read the current value of an analog reader of a board.
-  Future<int> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra});
+  Future<AnalogValue> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra});
 
   /// Return the current value of the interrupt which is based on the type of Interrupt.
   Future<int> digitalInterruptValue(String digitalInterruptName, {Map<String, dynamic>? extra});
diff --git a/lib/src/components/board/client.dart b/lib/src/components/board/client.dart
index 980eff0df5d..f10c14e3d75 100644
--- a/lib/src/components/board/client.dart
+++ b/lib/src/components/board/client.dart
@@ -95,13 +95,13 @@ class BoardClient extends Board implements ResourceRPCClient {
   }
 
   @override
-  Future<int> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra}) async {
+  Future<AnalogValue> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra}) async {
     final request = ReadAnalogReaderRequest()
       ..boardName = name
       ..analogReaderName = analogReaderName
       ..extra = extra?.toStruct() ?? Struct();
     final response = await client.readAnalogReader(request);
-    return response.value;
+    return response;
   }
 
   @override
diff --git a/lib/src/components/board/service.dart b/lib/src/components/board/service.dart
index 3de17110f23..02b32d56bd0 100644
--- a/lib/src/components/board/service.dart
+++ b/lib/src/components/board/service.dart
@@ -61,8 +61,8 @@ class BoardService extends BoardServiceBase {
   @override
   Future<ReadAnalogReaderResponse> readAnalogReader(ServiceCall call, ReadAnalogReaderRequest request) async {
     final board = _fromManager(request.boardName);
-    final value = await board.analogReaderValue(request.analogReaderName, extra: request.extra.toMap());
-    return ReadAnalogReaderResponse()..value = value;
+    final result = await board.analogReaderValue(request.analogReaderName, extra: request.extra.toMap());
+    return result;
   }
 
   @override
diff --git a/lib/src/gen/app/packages/v1/packages.pb.dart b/lib/src/gen/app/packages/v1/packages.pb.dart
index ae68c6896eb..7d3b1aaa0f5 100644
--- a/lib/src/gen/app/packages/v1/packages.pb.dart
+++ b/lib/src/gen/app/packages/v1/packages.pb.dart
@@ -24,6 +24,7 @@ class FileInfo extends $pb.GeneratedMessage {
   factory FileInfo({
     $core.String? name,
     $fixnum.Int64? size,
+    $core.bool? isDirectory,
   }) {
     final $result = create();
     if (name != null) {
@@ -32,6 +33,9 @@ class FileInfo extends $pb.GeneratedMessage {
     if (size != null) {
       $result.size = size;
     }
+    if (isDirectory != null) {
+      $result.isDirectory = isDirectory;
+    }
     return $result;
   }
   FileInfo._() : super();
@@ -41,6 +45,7 @@ class FileInfo extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'FileInfo', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.app.packages.v1'), createEmptyInstance: create)
     ..aOS(1, _omitFieldNames ? '' : 'name')
     ..a<$fixnum.Int64>(2, _omitFieldNames ? '' : 'size', $pb.PbFieldType.OU6, defaultOrMaker: $fixnum.Int64.ZERO)
+    ..aOB(3, _omitFieldNames ? '' : 'isDirectory')
     ..hasRequiredFields = false
   ;
 
@@ -82,6 +87,15 @@ class FileInfo extends $pb.GeneratedMessage {
   $core.bool hasSize() => $_has(1);
   @$pb.TagNumber(2)
   void clearSize() => clearField(2);
+
+  @$pb.TagNumber(3)
+  $core.bool get isDirectory => $_getBF(2);
+  @$pb.TagNumber(3)
+  set isDirectory($core.bool v) { $_setBool(2, v); }
+  @$pb.TagNumber(3)
+  $core.bool hasIsDirectory() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearIsDirectory() => clearField(3);
 }
 
 class PackageInfo extends $pb.GeneratedMessage {
diff --git a/lib/src/gen/app/packages/v1/packages.pbjson.dart b/lib/src/gen/app/packages/v1/packages.pbjson.dart
index 6a7ce79bcd8..95d13cc98eb 100644
--- a/lib/src/gen/app/packages/v1/packages.pbjson.dart
+++ b/lib/src/gen/app/packages/v1/packages.pbjson.dart
@@ -39,12 +39,17 @@ const FileInfo$json = {
   '2': [
     {'1': 'name', '3': 1, '4': 1, '5': 9, '10': 'name'},
     {'1': 'size', '3': 2, '4': 1, '5': 4, '10': 'size'},
+    {'1': 'is_directory', '3': 3, '4': 1, '5': 8, '9': 0, '10': 'isDirectory', '17': true},
+  ],
+  '8': [
+    {'1': '_is_directory'},
   ],
 };
 
 /// Descriptor for `FileInfo`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List fileInfoDescriptor = $convert.base64Decode(
-    'CghGaWxlSW5mbxISCgRuYW1lGAEgASgJUgRuYW1lEhIKBHNpemUYAiABKARSBHNpemU=');
+    'CghGaWxlSW5mbxISCgRuYW1lGAEgASgJUgRuYW1lEhIKBHNpemUYAiABKARSBHNpemUSJgoMaX'
+    'NfZGlyZWN0b3J5GAMgASgISABSC2lzRGlyZWN0b3J5iAEBQg8KDV9pc19kaXJlY3Rvcnk=');
 
 @$core.Deprecated('Use packageInfoDescriptor instead')
 const PackageInfo$json = {
diff --git a/lib/src/gen/common/v1/common.pb.dart b/lib/src/gen/common/v1/common.pb.dart
index 0df4e152bb8..1843ef60a95 100644
--- a/lib/src/gen/common/v1/common.pb.dart
+++ b/lib/src/gen/common/v1/common.pb.dart
@@ -999,10 +999,9 @@ class GeoPoint extends $pb.GeneratedMessage {
   void clearLongitude() => clearField(2);
 }
 
-/// GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
-/// captured in latitude and longitude.
-class GeoObstacle extends $pb.GeneratedMessage {
-  factory GeoObstacle({
+/// GeoGeometry contains information describing Geometry(s) that is located at a GeoPoint
+class GeoGeometry extends $pb.GeneratedMessage {
+  factory GeoGeometry({
     GeoPoint? location,
     $core.Iterable<Geometry>? geometries,
   }) {
@@ -1015,11 +1014,11 @@ class GeoObstacle extends $pb.GeneratedMessage {
     }
     return $result;
   }
-  GeoObstacle._() : super();
-  factory GeoObstacle.fromBuffer($core.List<$core.int> i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromBuffer(i, r);
-  factory GeoObstacle.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
+  GeoGeometry._() : super();
+  factory GeoGeometry.fromBuffer($core.List<$core.int> i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromBuffer(i, r);
+  factory GeoGeometry.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
-  static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GeoObstacle', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.common.v1'), createEmptyInstance: create)
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GeoGeometry', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.common.v1'), createEmptyInstance: create)
     ..aOM<GeoPoint>(1, _omitFieldNames ? '' : 'location', subBuilder: GeoPoint.create)
     ..pc<Geometry>(2, _omitFieldNames ? '' : 'geometries', $pb.PbFieldType.PM, subBuilder: Geometry.create)
     ..hasRequiredFields = false
@@ -1029,24 +1028,24 @@ class GeoObstacle extends $pb.GeneratedMessage {
   'Using this can add significant overhead to your binary. '
   'Use [GeneratedMessageGenericExtensions.deepCopy] instead. '
   'Will be removed in next major version')
-  GeoObstacle clone() => GeoObstacle()..mergeFromMessage(this);
+  GeoGeometry clone() => GeoGeometry()..mergeFromMessage(this);
   @$core.Deprecated(
   'Using this can add significant overhead to your binary. '
   'Use [GeneratedMessageGenericExtensions.rebuild] instead. '
   'Will be removed in next major version')
-  GeoObstacle copyWith(void Function(GeoObstacle) updates) => super.copyWith((message) => updates(message as GeoObstacle)) as GeoObstacle;
+  GeoGeometry copyWith(void Function(GeoGeometry) updates) => super.copyWith((message) => updates(message as GeoGeometry)) as GeoGeometry;
 
   $pb.BuilderInfo get info_ => _i;
 
   @$core.pragma('dart2js:noInline')
-  static GeoObstacle create() => GeoObstacle._();
-  GeoObstacle createEmptyInstance() => create();
-  static $pb.PbList<GeoObstacle> createRepeated() => $pb.PbList<GeoObstacle>();
+  static GeoGeometry create() => GeoGeometry._();
+  GeoGeometry createEmptyInstance() => create();
+  static $pb.PbList<GeoGeometry> createRepeated() => $pb.PbList<GeoGeometry>();
   @$core.pragma('dart2js:noInline')
-  static GeoObstacle getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<GeoObstacle>(create);
-  static GeoObstacle? _defaultInstance;
+  static GeoGeometry getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<GeoGeometry>(create);
+  static GeoGeometry? _defaultInstance;
 
-  /// Location of the obstacle
+  /// Location of the geometry
   @$pb.TagNumber(1)
   GeoPoint get location => $_getN(0);
   @$pb.TagNumber(1)
@@ -1058,7 +1057,7 @@ class GeoObstacle extends $pb.GeneratedMessage {
   @$pb.TagNumber(1)
   GeoPoint ensureLocation() => $_ensure(0);
 
-  /// Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
+  /// Geometries associated with the location, where embedded Pose data is with respect to the specified location
   @$pb.TagNumber(2)
   $core.List<Geometry> get geometries => $_getList(1);
 }
@@ -1202,7 +1201,8 @@ class WorldState extends $pb.GeneratedMessage {
   @$pb.TagNumber(1)
   $core.List<GeometriesInFrame> get obstacles => $_getList(0);
 
-  /// a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional
+  /// a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to
+  /// another, or to attach moving geometries to the frame system. This field is optional
   @$pb.TagNumber(3)
   $core.List<Transform> get transforms => $_getList(1);
 }
diff --git a/lib/src/gen/common/v1/common.pbjson.dart b/lib/src/gen/common/v1/common.pbjson.dart
index 0017969a071..e6e4cfb94b6 100644
--- a/lib/src/gen/common/v1/common.pbjson.dart
+++ b/lib/src/gen/common/v1/common.pbjson.dart
@@ -215,18 +215,18 @@ final $typed_data.Uint8List geoPointDescriptor = $convert.base64Decode(
     'CghHZW9Qb2ludBIaCghsYXRpdHVkZRgBIAEoAVIIbGF0aXR1ZGUSHAoJbG9uZ2l0dWRlGAIgAS'
     'gBUglsb25naXR1ZGU=');
 
-@$core.Deprecated('Use geoObstacleDescriptor instead')
-const GeoObstacle$json = {
-  '1': 'GeoObstacle',
+@$core.Deprecated('Use geoGeometryDescriptor instead')
+const GeoGeometry$json = {
+  '1': 'GeoGeometry',
   '2': [
     {'1': 'location', '3': 1, '4': 1, '5': 11, '6': '.viam.common.v1.GeoPoint', '10': 'location'},
     {'1': 'geometries', '3': 2, '4': 3, '5': 11, '6': '.viam.common.v1.Geometry', '10': 'geometries'},
   ],
 };
 
-/// Descriptor for `GeoObstacle`. Decode as a `google.protobuf.DescriptorProto`.
-final $typed_data.Uint8List geoObstacleDescriptor = $convert.base64Decode(
-    'CgtHZW9PYnN0YWNsZRI0Cghsb2NhdGlvbhgBIAEoCzIYLnZpYW0uY29tbW9uLnYxLkdlb1BvaW'
+/// Descriptor for `GeoGeometry`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List geoGeometryDescriptor = $convert.base64Decode(
+    'CgtHZW9HZW9tZXRyeRI0Cghsb2NhdGlvbhgBIAEoCzIYLnZpYW0uY29tbW9uLnYxLkdlb1BvaW'
     '50Ughsb2NhdGlvbhI4CgpnZW9tZXRyaWVzGAIgAygLMhgudmlhbS5jb21tb24udjEuR2VvbWV0'
     'cnlSCmdlb21ldHJpZXM=');
 
diff --git a/lib/src/gen/service/motion/v1/motion.pb.dart b/lib/src/gen/service/motion/v1/motion.pb.dart
index 1d62dc81981..bfaafa2fb05 100644
--- a/lib/src/gen/service/motion/v1/motion.pb.dart
+++ b/lib/src/gen/service/motion/v1/motion.pb.dart
@@ -602,8 +602,9 @@ class MoveOnGlobeRequest extends $pb.GeneratedMessage {
     $core.double? heading,
     $1.ResourceName? componentName,
     $1.ResourceName? movementSensorName,
-    $core.Iterable<$1.GeoObstacle>? obstacles,
+    $core.Iterable<$1.GeoGeometry>? obstacles,
     MotionConfiguration? motionConfiguration,
+    $core.Iterable<$1.GeoGeometry>? boundingRegions,
     $2.Struct? extra,
   }) {
     final $result = create();
@@ -628,6 +629,9 @@ class MoveOnGlobeRequest extends $pb.GeneratedMessage {
     if (motionConfiguration != null) {
       $result.motionConfiguration = motionConfiguration;
     }
+    if (boundingRegions != null) {
+      $result.boundingRegions.addAll(boundingRegions);
+    }
     if (extra != null) {
       $result.extra = extra;
     }
@@ -643,8 +647,9 @@ class MoveOnGlobeRequest extends $pb.GeneratedMessage {
     ..a<$core.double>(3, _omitFieldNames ? '' : 'heading', $pb.PbFieldType.OD)
     ..aOM<$1.ResourceName>(4, _omitFieldNames ? '' : 'componentName', subBuilder: $1.ResourceName.create)
     ..aOM<$1.ResourceName>(5, _omitFieldNames ? '' : 'movementSensorName', subBuilder: $1.ResourceName.create)
-    ..pc<$1.GeoObstacle>(6, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $1.GeoObstacle.create)
+    ..pc<$1.GeoGeometry>(6, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $1.GeoGeometry.create)
     ..aOM<MotionConfiguration>(7, _omitFieldNames ? '' : 'motionConfiguration', subBuilder: MotionConfiguration.create)
+    ..pc<$1.GeoGeometry>(8, _omitFieldNames ? '' : 'boundingRegions', $pb.PbFieldType.PM, subBuilder: $1.GeoGeometry.create)
     ..aOM<$2.Struct>(99, _omitFieldNames ? '' : 'extra', subBuilder: $2.Struct.create)
     ..hasRequiredFields = false
   ;
@@ -728,7 +733,7 @@ class MoveOnGlobeRequest extends $pb.GeneratedMessage {
 
   /// Obstacles to be considered for motion planning
   @$pb.TagNumber(6)
-  $core.List<$1.GeoObstacle> get obstacles => $_getList(5);
+  $core.List<$1.GeoGeometry> get obstacles => $_getList(5);
 
   /// Optional set of motion configuration options
   @$pb.TagNumber(7)
@@ -742,17 +747,21 @@ class MoveOnGlobeRequest extends $pb.GeneratedMessage {
   @$pb.TagNumber(7)
   MotionConfiguration ensureMotionConfiguration() => $_ensure(6);
 
+  /// Set of obstacles which the robot must remain within while navigating
+  @$pb.TagNumber(8)
+  $core.List<$1.GeoGeometry> get boundingRegions => $_getList(7);
+
   /// Additional arguments to the method
   @$pb.TagNumber(99)
-  $2.Struct get extra => $_getN(7);
+  $2.Struct get extra => $_getN(8);
   @$pb.TagNumber(99)
   set extra($2.Struct v) { setField(99, v); }
   @$pb.TagNumber(99)
-  $core.bool hasExtra() => $_has(7);
+  $core.bool hasExtra() => $_has(8);
   @$pb.TagNumber(99)
   void clearExtra() => clearField(99);
   @$pb.TagNumber(99)
-  $2.Struct ensureExtra() => $_ensure(7);
+  $2.Struct ensureExtra() => $_ensure(8);
 }
 
 class MoveOnGlobeResponse extends $pb.GeneratedMessage {
diff --git a/lib/src/gen/service/motion/v1/motion.pbjson.dart b/lib/src/gen/service/motion/v1/motion.pbjson.dart
index 36f328ba8d4..eb76c8cb6f8 100644
--- a/lib/src/gen/service/motion/v1/motion.pbjson.dart
+++ b/lib/src/gen/service/motion/v1/motion.pbjson.dart
@@ -168,8 +168,9 @@ const MoveOnGlobeRequest$json = {
     {'1': 'heading', '3': 3, '4': 1, '5': 1, '9': 0, '10': 'heading', '17': true},
     {'1': 'component_name', '3': 4, '4': 1, '5': 11, '6': '.viam.common.v1.ResourceName', '10': 'componentName'},
     {'1': 'movement_sensor_name', '3': 5, '4': 1, '5': 11, '6': '.viam.common.v1.ResourceName', '10': 'movementSensorName'},
-    {'1': 'obstacles', '3': 6, '4': 3, '5': 11, '6': '.viam.common.v1.GeoObstacle', '10': 'obstacles'},
+    {'1': 'obstacles', '3': 6, '4': 3, '5': 11, '6': '.viam.common.v1.GeoGeometry', '10': 'obstacles'},
     {'1': 'motion_configuration', '3': 7, '4': 1, '5': 11, '6': '.viam.service.motion.v1.MotionConfiguration', '9': 1, '10': 'motionConfiguration', '17': true},
+    {'1': 'bounding_regions', '3': 8, '4': 3, '5': 11, '6': '.viam.common.v1.GeoGeometry', '10': 'boundingRegions'},
     {'1': 'extra', '3': 99, '4': 1, '5': 11, '6': '.google.protobuf.Struct', '10': 'extra'},
   ],
   '8': [
@@ -185,11 +186,12 @@ final $typed_data.Uint8List moveOnGlobeRequestDescriptor = $convert.base64Decode
     'GAMgASgBSABSB2hlYWRpbmeIAQESQwoOY29tcG9uZW50X25hbWUYBCABKAsyHC52aWFtLmNvbW'
     '1vbi52MS5SZXNvdXJjZU5hbWVSDWNvbXBvbmVudE5hbWUSTgoUbW92ZW1lbnRfc2Vuc29yX25h'
     'bWUYBSABKAsyHC52aWFtLmNvbW1vbi52MS5SZXNvdXJjZU5hbWVSEm1vdmVtZW50U2Vuc29yTm'
-    'FtZRI5CglvYnN0YWNsZXMYBiADKAsyGy52aWFtLmNvbW1vbi52MS5HZW9PYnN0YWNsZVIJb2Jz'
+    'FtZRI5CglvYnN0YWNsZXMYBiADKAsyGy52aWFtLmNvbW1vbi52MS5HZW9HZW9tZXRyeVIJb2Jz'
     'dGFjbGVzEmMKFG1vdGlvbl9jb25maWd1cmF0aW9uGAcgASgLMisudmlhbS5zZXJ2aWNlLm1vdG'
-    'lvbi52MS5Nb3Rpb25Db25maWd1cmF0aW9uSAFSE21vdGlvbkNvbmZpZ3VyYXRpb26IAQESLQoF'
-    'ZXh0cmEYYyABKAsyFy5nb29nbGUucHJvdG9idWYuU3RydWN0UgVleHRyYUIKCghfaGVhZGluZ0'
-    'IXChVfbW90aW9uX2NvbmZpZ3VyYXRpb24=');
+    'lvbi52MS5Nb3Rpb25Db25maWd1cmF0aW9uSAFSE21vdGlvbkNvbmZpZ3VyYXRpb26IAQESRgoQ'
+    'Ym91bmRpbmdfcmVnaW9ucxgIIAMoCzIbLnZpYW0uY29tbW9uLnYxLkdlb0dlb21ldHJ5Ug9ib3'
+    'VuZGluZ1JlZ2lvbnMSLQoFZXh0cmEYYyABKAsyFy5nb29nbGUucHJvdG9idWYuU3RydWN0UgVl'
+    'eHRyYUIKCghfaGVhZGluZ0IXChVfbW90aW9uX2NvbmZpZ3VyYXRpb24=');
 
 @$core.Deprecated('Use moveOnGlobeResponseDescriptor instead')
 const MoveOnGlobeResponse$json = {
diff --git a/lib/src/gen/service/navigation/v1/navigation.pb.dart b/lib/src/gen/service/navigation/v1/navigation.pb.dart
index 907424f9d8f..7a3427a7f07 100644
--- a/lib/src/gen/service/navigation/v1/navigation.pb.dart
+++ b/lib/src/gen/service/navigation/v1/navigation.pb.dart
@@ -862,7 +862,7 @@ class GetObstaclesRequest extends $pb.GeneratedMessage {
 
 class GetObstaclesResponse extends $pb.GeneratedMessage {
   factory GetObstaclesResponse({
-    $core.Iterable<$1.GeoObstacle>? obstacles,
+    $core.Iterable<$1.GeoGeometry>? obstacles,
   }) {
     final $result = create();
     if (obstacles != null) {
@@ -875,7 +875,7 @@ class GetObstaclesResponse extends $pb.GeneratedMessage {
   factory GetObstaclesResponse.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GetObstaclesResponse', package: const $pb.PackageName(_omitMessageNames ? '' : 'viam.service.navigation.v1'), createEmptyInstance: create)
-    ..pc<$1.GeoObstacle>(1, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $1.GeoObstacle.create)
+    ..pc<$1.GeoGeometry>(1, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $1.GeoGeometry.create)
     ..hasRequiredFields = false
   ;
 
@@ -902,7 +902,7 @@ class GetObstaclesResponse extends $pb.GeneratedMessage {
 
   /// List of all known geometries
   @$pb.TagNumber(1)
-  $core.List<$1.GeoObstacle> get obstacles => $_getList(0);
+  $core.List<$1.GeoGeometry> get obstacles => $_getList(0);
 }
 
 /// A user provided destination and the set of geopoints that
diff --git a/lib/src/gen/service/navigation/v1/navigation.pbjson.dart b/lib/src/gen/service/navigation/v1/navigation.pbjson.dart
index e6287ab9e90..76cf3bb43cc 100644
--- a/lib/src/gen/service/navigation/v1/navigation.pbjson.dart
+++ b/lib/src/gen/service/navigation/v1/navigation.pbjson.dart
@@ -233,14 +233,14 @@ final $typed_data.Uint8List getObstaclesRequestDescriptor = $convert.base64Decod
 const GetObstaclesResponse$json = {
   '1': 'GetObstaclesResponse',
   '2': [
-    {'1': 'obstacles', '3': 1, '4': 3, '5': 11, '6': '.viam.common.v1.GeoObstacle', '10': 'obstacles'},
+    {'1': 'obstacles', '3': 1, '4': 3, '5': 11, '6': '.viam.common.v1.GeoGeometry', '10': 'obstacles'},
   ],
 };
 
 /// Descriptor for `GetObstaclesResponse`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List getObstaclesResponseDescriptor = $convert.base64Decode(
     'ChRHZXRPYnN0YWNsZXNSZXNwb25zZRI5CglvYnN0YWNsZXMYASADKAsyGy52aWFtLmNvbW1vbi'
-    '52MS5HZW9PYnN0YWNsZVIJb2JzdGFjbGVz');
+    '52MS5HZW9HZW9tZXRyeVIJb2JzdGFjbGVz');
 
 @$core.Deprecated('Use pathDescriptor instead')
 const Path$json = {
diff --git a/test/unit_test/components/board_test.dart b/test/unit_test/components/board_test.dart
index ace6c35576c..aa2bc30b31b 100644
--- a/test/unit_test/components/board_test.dart
+++ b/test/unit_test/components/board_test.dart
@@ -11,11 +11,18 @@ import 'package:viam_sdk/viam_sdk.dart';
 
 import '../../test_utils.dart';
 
+AnalogValue expectedAnalog = AnalogValue()
+  ..value = 0
+  ..minRange = 0
+  ..maxRange = 5
+  ..stepSize = 1;
+
 class FakeBoard extends Board {
   final Map<String, bool> gpioMap = {'pin': false};
   final Map<String, double> pwmMap = {'pin': 0.0};
   final Map<String, int> frequencyMap = {'pin': 0};
   final Map<String, int> analogMap = {'pin': 0};
+  AnalogValue analogResponse = expectedAnalog;
   PowerMode powerMode = PowerMode.POWER_MODE_NORMAL;
   final Map<String, Queue<Tick>> tickCallbackMap = {};
   Map<String, dynamic>? extra;
@@ -31,9 +38,9 @@ class FakeBoard extends Board {
   }
 
   @override
-  Future<int> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra}) async {
+  Future<AnalogValue> analogReaderValue(String analogReaderName, {Map<String, dynamic>? extra}) async {
     this.extra = extra;
-    return 0;
+    return analogResponse;
   }
 
   @override
@@ -120,8 +127,7 @@ void main() {
     });
 
     test('analogReaderValue', () async {
-      const expected = 0;
-      expect(await board.analogReaderValue('1'), expected);
+      expect(await board.analogReaderValue('1'), expectedAnalog);
     });
 
     test('digitalInterruptValue', () async {
@@ -219,12 +225,10 @@ void main() {
     group('Board Service Tests', () {
       test('analogReaderValue', () async {
         final client = BoardServiceClient(channel);
-        const expected = 0;
-
         final response = await client.readAnalogReader(ReadAnalogReaderRequest()
           ..boardName = name
           ..analogReaderName = '1');
-        expect(response.value, expected);
+        expect(response, expectedAnalog);
       });
 
       test('digitalInterruptValue', () async {
@@ -363,8 +367,7 @@ void main() {
     group('Board Client Tests', () {
       test('analogReaderValue', () async {
         final client = BoardClient(name, channel);
-        const expected = 0;
-        expect(await client.analogReaderValue('1'), expected);
+        expect(await client.analogReaderValue('1'), expectedAnalog);
       });
 
       test('digitalInterruptValue', () async {