From 3393d3d682733a582e5601a999a63b0728279d7f Mon Sep 17 00:00:00 2001
From: Miguel <miferco97@gmail.com>
Date: Fri, 13 May 2022 08:48:51 +0200
Subject: [PATCH] update motion_reference_handler

---
 CMakeLists.txt               | 2 +-
 package.xml                  | 2 +-
 src/takeoff_plugin_speed.cpp | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 59d1a8d..44f51f2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ set(PROJECT_DEPENDENCIES
   as2_core
   as2_msgs
   geometry_msgs
-  as2_motion_command_handlers
+  motion_reference_handlers
 )
 
 foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
diff --git a/package.xml b/package.xml
index 2274212..cfdeb7d 100644
--- a/package.xml
+++ b/package.xml
@@ -17,7 +17,7 @@
   <depend>as2_core</depend>
   <depend>as2_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>as2_motion_command_handlers</depend>
+  <depend>motion_reference_handlers</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/takeoff_plugin_speed.cpp b/src/takeoff_plugin_speed.cpp
index d02a207..c289d04 100644
--- a/src/takeoff_plugin_speed.cpp
+++ b/src/takeoff_plugin_speed.cpp
@@ -1,5 +1,5 @@
+#include "motion_reference_handlers/speed_motion.hpp"
 #include "takeoff_base.hpp"
-#include "as2_motion_command_handlers/speed_motion.hpp"
 
 namespace takeoff_plugins
 {
@@ -25,7 +25,7 @@ namespace takeoff_plugins
             auto feedback = std::make_shared<as2_msgs::action::TakeOff::Feedback>();
             auto result = std::make_shared<as2_msgs::action::TakeOff::Result>();
 
-            static as2::motionCommandsHandlers::SpeedMotion motion_handler(node_ptr_);
+            static as2::motionReferenceHandlers::SpeedMotion motion_handler(node_ptr_);
 
             // Check if goal is done
             while ((desired_height_ - actual_heigth_) > 0 + this->takeoff_height_threshold_)