diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..3164494
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,2 @@
+build
+devel
diff --git a/.github/workflows/docker-image-robot-develop.yml b/.github/workflows/docker-image-perception-develop.yml
similarity index 85%
rename from .github/workflows/docker-image-robot-develop.yml
rename to .github/workflows/docker-image-perception-develop.yml
index 7acac19..6aa95a5 100644
--- a/.github/workflows/docker-image-robot-develop.yml
+++ b/.github/workflows/docker-image-perception-develop.yml
@@ -5,13 +5,13 @@ on:
     branches: [develop]
 
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: develop
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -20,7 +20,7 @@ jobs:
       - name: Login to Github Package Registry
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -37,13 +37,13 @@ jobs:
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: develop
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -65,7 +65,7 @@ jobs:
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -85,7 +85,7 @@ jobs:
   notify-success:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: success()
     steps:
       - name: Notify Slack Success
@@ -100,7 +100,7 @@ jobs:
   notify-fail:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: failure()
     steps:
       - name: Notify Slack Fail
diff --git a/.github/workflows/docker-image-robot-feature.yml b/.github/workflows/docker-image-perception-feature.yml
similarity index 84%
rename from .github/workflows/docker-image-robot-feature.yml
rename to .github/workflows/docker-image-perception-feature.yml
index 234c073..fd850bf 100644
--- a/.github/workflows/docker-image-robot-feature.yml
+++ b/.github/workflows/docker-image-perception-feature.yml
@@ -5,13 +5,13 @@ on:
     branches: [feature/**]
 
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: feature
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -20,7 +20,7 @@ jobs:
       - name: Login to Github Package Registry
         run: |
           echo "${{ secrets.GITHUB_TOKEN }}" | docker login docker.pkg.github.com -u ${{ github.actor }} --password-stdin
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-feature-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -32,13 +32,13 @@ jobs:
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}:${ARCH}-${TARGET_TYPE}-${TARGET_VERSION}-${GITHUB_REF##*/}
 
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       TARGET_VERSION: feature
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
@@ -60,7 +60,7 @@ jobs:
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-feature-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -75,7 +75,7 @@ jobs:
   notify-success:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: success()
     steps:
       - name: Notify Slack Success
@@ -90,7 +90,7 @@ jobs:
   notify-fail:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     if: failure()
     steps:
       - name: Notify Slack Fail
diff --git a/.github/workflows/docker-image-robot-master.yml b/.github/workflows/docker-image-perception-master.yml
similarity index 87%
rename from .github/workflows/docker-image-robot-master.yml
rename to .github/workflows/docker-image-perception-master.yml
index 46bf28a..57aee31 100644
--- a/.github/workflows/docker-image-robot-master.yml
+++ b/.github/workflows/docker-image-perception-master.yml
@@ -5,13 +5,13 @@ on:
     branches: [master]
 
 jobs:
-  build-ros-robot-x86-64:
-    name: "Build ROS robot X86/64"
+  build-ros-perception-x86-64:
+    name: "Build ROS perception X86/64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
       ARCH: x86
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
@@ -22,7 +22,7 @@ jobs:
       - name: Set Target version
         run: echo '::set-env name=TARGET_VERSION::release-'$(sed -n -e 's/.*<version>\(.*\)<\/version>.*/\1/p' package.xml)
 
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '+%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -41,13 +41,13 @@ jobs:
         run: |
           docker push ${GITHUB_REMOTE_URL}/${IMAGE_NAME}
 
-  build-ros-robot-arm64:
-    name: "Build ROS robot ARM64"
+  build-ros-perception-arm64:
+    name: "Build ROS perception ARM64"
     runs-on: ubuntu-latest
     env:
-      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:arm64-robot-latest"
+      BASE_IMAGE: "docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:arm64-perception-latest"
       ARCH: arm64
-      TARGET_TYPE: robot
+      TARGET_TYPE: perception
       IMAGE_NAME: provider_actuators
       GITHUB_REMOTE_URL: docker.pkg.github.com/${{ github.repository }}
     steps:
@@ -67,11 +67,11 @@ jobs:
 
       - name: Install QEMU to be able to compile on X86 into ARM64
         run: |
-
+          sudo apt-get update
           sudo apt-get install qemu binfmt-support qemu-user-static
           docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
 
-      - name: Build the docker image (robot based)
+      - name: Build the docker image (perception based)
         run: |
           docker build . --tag build-${TARGET_VERSION}-${GITHUB_REF##*/}-${GITHUB_RUN_NUMBER} --build-arg BUILD_DATE=$(date '+%Y-%m-%d_%H:%M:%S') --build-arg VERSION=${GITHUB_REF##*/}-$(date '  +%Y-%m-%d_%H:%M:%S') --build-arg BASE_IMAGE=${BASE_IMAGE}
 
@@ -92,7 +92,7 @@ jobs:
   create-release:
     name: "Create Github Release"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64]
     steps:
       - uses: actions/checkout@v2
       - name: Set Target version
@@ -118,7 +118,7 @@ jobs:
   notify-success:
     name: "Notify Slack - Success"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64, create-release]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
     if: success()
     steps:
       - name: Notify Slack Success
@@ -133,7 +133,7 @@ jobs:
   notify-fail:
     name: "Notify Slack - Failure"
     runs-on: ubuntu-latest
-    needs: [build-ros-robot-x86-64, build-ros-robot-arm64, create-release]
+    needs: [build-ros-perception-x86-64, build-ros-perception-arm64, create-release]
     if: failure()
     steps:
       - name: Notify Slack Fail
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0a2952d..f09805e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(
         roscpp
         cmake_modules
         std_msgs
-        sonia_msgs
+        sonia_common
 )
 
 #===============================================================================
@@ -41,7 +41,7 @@ catkin_package(
         CATKIN_DEPENDS
         roscpp
         std_msgs
-        sonia_msgs
+        sonia_common
 )
 
 
diff --git a/Dockerfile b/Dockerfile
index 4bd83af..d778284 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-ARG BASE_IMAGE="docker.pkg.github.com/sonia-auv/sonia_messages/sonia_messages:x86-robot-latest"
+ARG BASE_IMAGE="docker.pkg.github.com/sonia-auv/sonia_common/sonia_common:x86-perception-latest"
 
 FROM ${BASE_IMAGE}
 
diff --git a/README.md b/README.md
index 2a2f2a6..ab57764 100644
--- a/README.md
+++ b/README.md
@@ -85,7 +85,7 @@ Add additional notes about how to deploy this on a live system
 
 Add additional project dependencies
 
-* [ROS](http://wiki.ros.org/) - ROS robotic framework
+* [ROS](http://wiki.ros.org/) - ROS perceptionic framework
 
 
 ## Versioning
diff --git a/package.xml b/package.xml
index 93710c9..9d9157d 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>provider_actuators</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>
     The provider_actuators is responsible to communicate with IO board.
   </description>
@@ -17,10 +17,10 @@
 
     <build_depend>roscpp</build_depend>
     <build_depend>std_msgs</build_depend>
-    <build_depend>sonia_msgs</build_depend>
+    <build_depend>sonia_common</build_depend>
 
     <run_depend>roscpp</run_depend>
     <run_depend>std_msgs</run_depend>
-    <run_depend>sonia_msgs</run_depend>
+    <run_depend>sonia_common</run_depend>
 
 </package>
diff --git a/src/provider_actuators/provider_actuators_node.cc b/src/provider_actuators/provider_actuators_node.cc
index 686b6da..7275ce5 100644
--- a/src/provider_actuators/provider_actuators_node.cc
+++ b/src/provider_actuators/provider_actuators_node.cc
@@ -36,7 +36,7 @@ namespace provider_actuators {
     {
 
         rs485_publisherRx =
-                nh->advertise<sonia_msgs::SendRS485Msg>("/interface_rs485/dataRx", 100);
+                nh->advertise<sonia_common::SendRS485Msg>("/interface_rs485/dataRx", 100);
 
         rs485_subscriberTx =
                 nh->subscribe("/interface_rs485/dataTx", 100, &ProviderActuatorsNode::CommunicationDataCallback, this);
@@ -67,38 +67,38 @@ namespace provider_actuators {
       }
     }
 
-    void ProviderActuatorsNode::CommunicationDataCallback(const sonia_msgs::SendRS485Msg::ConstPtr &receivedData) {
+    void ProviderActuatorsNode::CommunicationDataCallback(const sonia_common::SendRS485Msg::ConstPtr &receivedData) {
 
 
-        if (receivedData->slave == sonia_msgs::SendRS485Msg::SLAVE_IO_CTR)
+        if (receivedData->slave == sonia_common::SendRS485Msg::SLAVE_IO_CTR)
         {
 
             switch (receivedData->cmd)
             {
 
-                case sonia_msgs::SendRS485Msg::CMD_IO_TEMP:
+                case sonia_common::SendRS485Msg::CMD_IO_TEMP:
                     HandleTempCallback(receivedData->data);
                     break;
 
-                case sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_PORT:
-                case sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_STARBOARD:
+                case sonia_common::SendRS485Msg::CMD_IO_DROPPER_PORT:
+                case sonia_common::SendRS485Msg::CMD_IO_DROPPER_STARBOARD:
                     HandleDroppersCallback(receivedData->cmd, receivedData->data);
                     break;
 
-                case sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_PORT:
-                case sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD:
+                case sonia_common::SendRS485Msg::CMD_IO_TORPEDO_PORT:
+                case sonia_common::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD:
                     HandleTorpedosCallback(receivedData->cmd, receivedData->data);
                     break;
 
-                case sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_BACK:
-                case sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_FRONT:
-                case sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_RIGHT:
-                case sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_LEFT:
+                case sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_BACK:
+                case sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_FRONT:
+                case sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_RIGHT:
+                case sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_LEFT:
                     HandleLeakSensorsCallback(receivedData->cmd);
                     break;
 
-                case sonia_msgs::SendRS485Msg::CMD_IO_ARM_OPEN:
-                case sonia_msgs::SendRS485Msg::CMD_IO_ARM_CLOSE:
+                case sonia_common::SendRS485Msg::CMD_IO_ARM_OPEN:
+                case sonia_common::SendRS485Msg::CMD_IO_ARM_CLOSE:
                     HandleArmCallback(receivedData->cmd, receivedData->data);
                     break;
 
@@ -108,7 +108,7 @@ namespace provider_actuators {
 
     }
 
-    void ProviderActuatorsNode::HandleTempCallback(sonia_msgs::SendRS485Msg::_data_type data) {
+    void ProviderActuatorsNode::HandleTempCallback(sonia_common::SendRS485Msg::_data_type data) {
 
         union Temperature
         {
@@ -131,15 +131,15 @@ namespace provider_actuators {
 
     }
 
-    void ProviderActuatorsNode::HandleDroppersCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data) {
+    void ProviderActuatorsNode::HandleDroppersCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data) {
 
         std::string side;
 
-        if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_PORT)
+        if (cmd == sonia_common::SendRS485Msg::CMD_IO_DROPPER_PORT)
         {
             side = "port";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_STARBOARD)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_DROPPER_STARBOARD)
         {
             side = "starboard";
         }
@@ -149,15 +149,15 @@ namespace provider_actuators {
 
     }
 
-    void ProviderActuatorsNode::HandleTorpedosCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data) {
+    void ProviderActuatorsNode::HandleTorpedosCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data) {
 
         std::string side;
 
-        if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_PORT)
+        if (cmd == sonia_common::SendRS485Msg::CMD_IO_TORPEDO_PORT)
         {
             side = "port";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD)
         {
             side = "starboard";
         }
@@ -166,23 +166,23 @@ namespace provider_actuators {
         // TODO send msg
     }
 
-    void ProviderActuatorsNode::HandleLeakSensorsCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd) {
+    void ProviderActuatorsNode::HandleLeakSensorsCallback(sonia_common::SendRS485Msg::_cmd_type cmd) {
 
         std::string side;
 
-        if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_FRONT)
+        if (cmd == sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_FRONT)
         {
             side = "front";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_LEFT)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_LEFT)
         {
             side = "left";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_RIGHT)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_RIGHT)
         {
             side = "right";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_LEAK_SENSOR_BACK)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_LEAK_SENSOR_BACK)
         {
             side = "back";
         }
@@ -193,15 +193,15 @@ namespace provider_actuators {
 
     }
 
-    void ProviderActuatorsNode::HandleArmCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data) {
+    void ProviderActuatorsNode::HandleArmCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data) {
 
         std::string side;
 
-        if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_ARM_OPEN)
+        if (cmd == sonia_common::SendRS485Msg::CMD_IO_ARM_OPEN)
         {
             side = "open";
         }
-        else if (cmd == sonia_msgs::SendRS485Msg::CMD_IO_ARM_CLOSE)
+        else if (cmd == sonia_common::SendRS485Msg::CMD_IO_ARM_CLOSE)
         {
             side = "close";
         }
@@ -210,43 +210,43 @@ namespace provider_actuators {
         // TODO send msg
     }
 
-    void ProviderActuatorsNode::DoActionCallback(const sonia_msgs::ActuatorDoAction::ConstPtr &receivedData) {
+    void ProviderActuatorsNode::DoActionCallback(const sonia_common::ActuatorDoAction::ConstPtr &receivedData) {
 
-        sonia_msgs::SendRS485Msg rs485Msg;
+        sonia_common::SendRS485Msg rs485Msg;
 
-        rs485Msg.slave = sonia_msgs::SendRS485Msg::SLAVE_IO_CTR;
+        rs485Msg.slave = sonia_common::SendRS485Msg::SLAVE_IO_CTR;
 
-        if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_DROPPER
-            && receivedData->side == sonia_msgs::ActuatorDoAction::SIDE_PORT)
+        if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_DROPPER
+            && receivedData->side == sonia_common::ActuatorDoAction::SIDE_PORT)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_PORT;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_DROPPER_PORT;
         }
-        else if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_DROPPER
-                 && receivedData->side == sonia_msgs::ActuatorDoAction::SIDE_STARBOARD)
+        else if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_DROPPER
+                 && receivedData->side == sonia_common::ActuatorDoAction::SIDE_STARBOARD)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_DROPPER_STARBOARD;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_DROPPER_STARBOARD;
         }
-        else if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_TORPEDO
-                 && receivedData->side == sonia_msgs::ActuatorDoAction::SIDE_PORT)
+        else if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_TORPEDO
+                 && receivedData->side == sonia_common::ActuatorDoAction::SIDE_PORT)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_PORT;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_TORPEDO_PORT;
         }
-        else if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_TORPEDO
-                 && receivedData->side == sonia_msgs::ActuatorDoAction::SIDE_STARBOARD)
+        else if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_TORPEDO
+                 && receivedData->side == sonia_common::ActuatorDoAction::SIDE_STARBOARD)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_TORPEDO_STARBOARD;
         }
 
-        else if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_ARM
-                 && receivedData->side == sonia_msgs::ActuatorDoAction::ARM_OPEN)
+        else if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_ARM
+                 && receivedData->side == sonia_common::ActuatorDoAction::ARM_OPEN)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_ARM_OPEN;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_ARM_OPEN;
         }
 
-        else if (receivedData->element == sonia_msgs::ActuatorDoAction::ELEMENT_ARM
-                 && receivedData->side == sonia_msgs::ActuatorDoAction::ARM_CLOSE)
+        else if (receivedData->element == sonia_common::ActuatorDoAction::ELEMENT_ARM
+                 && receivedData->side == sonia_common::ActuatorDoAction::ARM_CLOSE)
         {
-            rs485Msg.cmd = sonia_msgs::SendRS485Msg::CMD_IO_ARM_CLOSE;
+            rs485Msg.cmd = sonia_common::SendRS485Msg::CMD_IO_ARM_CLOSE;
         }
 
         rs485Msg.data.push_back(receivedData->action);
@@ -255,10 +255,10 @@ namespace provider_actuators {
 
     }
 
-    bool ProviderActuatorsNode::DoActionSrvCallback(sonia_msgs::ActuatorDoActionSrv::Request &request,
-                                                    sonia_msgs::ActuatorDoActionSrv::Response &response) {
+    bool ProviderActuatorsNode::DoActionSrvCallback(sonia_common::ActuatorDoActionSrv::Request &request,
+                                                    sonia_common::ActuatorDoActionSrv::Response &response) {
 
-        sonia_msgs::ActuatorDoAction::Ptr msg(new sonia_msgs::ActuatorDoAction());
+        sonia_common::ActuatorDoAction::Ptr msg(new sonia_common::ActuatorDoAction());
         msg->action = request.action;
         msg->element = request.element;
         msg->side = request.side;
diff --git a/src/provider_actuators/provider_actuators_node.h b/src/provider_actuators/provider_actuators_node.h
index 84a293d..4296a11 100644
--- a/src/provider_actuators/provider_actuators_node.h
+++ b/src/provider_actuators/provider_actuators_node.h
@@ -27,9 +27,9 @@
 #define PROVIDER_ACTUATORS_PROVIDER_ACTUATOR_NODE_H_
 
 #include <ros/node_handle.h>
-#include <sonia_msgs/SendRS485Msg.h>
-#include <sonia_msgs/ActuatorDoAction.h>
-#include <sonia_msgs/ActuatorDoActionSrv.h>
+#include <sonia_common/SendRS485Msg.h>
+#include <sonia_common/ActuatorDoAction.h>
+#include <sonia_common/ActuatorDoActionSrv.h>
 
 namespace provider_actuators {
 
@@ -60,15 +60,15 @@ class ProviderActuatorsNode {
     ros::Subscriber doActionSubscriber;
     ros::ServiceServer doActionService;
 
-    void CommunicationDataCallback(const sonia_msgs::SendRS485Msg::ConstPtr &receivedData);
-    void HandleTempCallback(sonia_msgs::SendRS485Msg::_data_type data);
-    void HandleDroppersCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data);
-    void HandleTorpedosCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data);
-    void HandleLeakSensorsCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd);
-    void HandleArmCallback(sonia_msgs::SendRS485Msg::_cmd_type cmd, sonia_msgs::SendRS485Msg::_data_type data);
+    void CommunicationDataCallback(const sonia_common::SendRS485Msg::ConstPtr &receivedData);
+    void HandleTempCallback(sonia_common::SendRS485Msg::_data_type data);
+    void HandleDroppersCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data);
+    void HandleTorpedosCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data);
+    void HandleLeakSensorsCallback(sonia_common::SendRS485Msg::_cmd_type cmd);
+    void HandleArmCallback(sonia_common::SendRS485Msg::_cmd_type cmd, sonia_common::SendRS485Msg::_data_type data);
 
-    void DoActionCallback(const sonia_msgs::ActuatorDoAction::ConstPtr &receivedData);
-    bool DoActionSrvCallback(sonia_msgs::ActuatorDoActionSrv::Request &request, sonia_msgs::ActuatorDoActionSrv::Response &response);
+    void DoActionCallback(const sonia_common::ActuatorDoAction::ConstPtr &receivedData);
+    bool DoActionSrvCallback(sonia_common::ActuatorDoActionSrv::Request &request, sonia_common::ActuatorDoActionSrv::Response &response);
 
 };