diff --git a/mir_driver/CMakeLists.txt b/mir_driver/CMakeLists.txt
index 8862ab21..b33a5241 100644
--- a/mir_driver/CMakeLists.txt
+++ b/mir_driver/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_policy(SET CMP0048 NEW)
 project(mir_driver)
 
 find_package(catkin REQUIRED COMPONENTS
-  actionlib_msgs
+  action_msgs
   diagnostic_msgs
   dynamic_reconfigure
   geometry_msgs
@@ -28,7 +28,7 @@ catkin_python_setup()
 ###################################
 catkin_package(
   CATKIN_DEPENDS
-    actionlib_msgs
+    action_msgs
     diagnostic_msgs
     dynamic_reconfigure
     geometry_msgs
diff --git a/mir_driver/nodes/mir_bridge.py b/mir_driver/nodes/mir_bridge.py
index 178af583..8a4b1742 100755
--- a/mir_driver/nodes/mir_bridge.py
+++ b/mir_driver/nodes/mir_bridge.py
@@ -9,7 +9,7 @@
 from rospy_message_converter import message_converter
 
 from actionlib import SimpleActionClient
-import actionlib_msgs.msg
+import action_msgs.msg
 import diagnostic_msgs.msg
 import dynamic_reconfigure.msg
 import geometry_msgs.msg
@@ -242,7 +242,7 @@ def _remove_tf_prefix_dict_filter(msg_dict):
     ),
     # really mir_actions/MirMoveBaseActionResult:
     TopicConfig('move_base/result', move_base_msgs.msg.MoveBaseActionResult, dict_filter=_move_base_result_dict_filter),
-    TopicConfig('move_base/status', actionlib_msgs.msg.GoalStatusArray),
+    TopicConfig('move_base/status', action_msgs.msg.GoalStatusArray),
     # TopicConfig('move_base_node/MIRPlannerROS/cost_cloud', sensor_msgs.msg.PointCloud2),
     # TopicConfig('move_base_node/MIRPlannerROS/global_plan', nav_msgs.msg.Path),
     # TopicConfig('move_base_node/MIRPlannerROS/len_to_goal', std_msgs.msg.Float64),
@@ -320,7 +320,7 @@ def _remove_tf_prefix_dict_filter(msg_dict):
     TopicConfig('initialpose', geometry_msgs.msg.PoseWithCovarianceStamped),
     TopicConfig('light_cmd', std_msgs.msg.String),
     TopicConfig('mir_cmd', std_msgs.msg.String),
-    TopicConfig('move_base/cancel', actionlib_msgs.msg.GoalID),
+    TopicConfig('move_base/cancel', action_msgs.msg.GoalInfo),
     # really mir_actions/MirMoveBaseActionGoal:
     TopicConfig('move_base/goal', move_base_msgs.msg.MoveBaseActionGoal, dict_filter=_move_base_goal_dict_filter),
 ]
diff --git a/mir_driver/package.xml b/mir_driver/package.xml
index 7c73dd49..fb6c75c6 100644
--- a/mir_driver/package.xml
+++ b/mir_driver/package.xml
@@ -18,7 +18,7 @@
 
   <build_depend>roslaunch</build_depend>
 
-  <depend>actionlib_msgs</depend>
+  <depend>action_msgs</depend>
   <depend>diagnostic_msgs</depend>
   <depend>dynamic_reconfigure</depend>
   <depend>geometry_msgs</depend>