diff --git a/include/iri_nav_module/teb_lp_module_bt.h b/include/iri_nav_module/teb_lp_module_bt.h
index 761acce6d445bb4432d12743148c8bebeb9e4f42..fc2b2a009ea5491d51b92e52bd853e9b97d2a295 100644
--- a/include/iri_nav_module/teb_lp_module_bt.h
+++ b/include/iri_nav_module/teb_lp_module_bt.h
@@ -86,18 +86,18 @@ class CTEBLPModuleBT
     // Registration of conditions   
 
     //Registration of actions
-    factory.registerSimpleAction(this->name+"teb_set_goal_tolerances", std::bind(&CTEBLPModuleBT::set_goal_tolerances, this, std::placeholders::_1), set_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_get_goal_tolerances", std::bind(&CTEBLPModuleBT::get_goal_tolerances, this, std::placeholders::_1), get_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_set_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::set_xy_goal_tolerance, this, std::placeholders::_1), set_xy_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_get_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::get_xy_goal_tolerance, this, std::placeholders::_1), get_xy_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_set_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::set_yaw_goal_tolerance, this, std::placeholders::_1), set_yaw_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_get_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::get_yaw_goal_tolerance, this, std::placeholders::_1), get_yaw_goal_tol_ports);
-    factory.registerSimpleAction(this->name+"teb_set_max_vel_x", std::bind(&CTEBLPModuleBT::set_max_vel_x, this, std::placeholders::_1), set_max_vel_x_ports);
-    factory.registerSimpleAction(this->name+"teb_get_max_vel_x", std::bind(&CTEBLPModuleBT::get_max_vel_x, this, std::placeholders::_1), get_max_vel_x_ports);
-    factory.registerSimpleAction(this->name+"teb_set_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::set_mav_vel_x_backwards, this, std::placeholders::_1), set_max_vel_x_back_ports);
-    factory.registerSimpleAction(this->name+"teb_get_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::get_mav_vel_x_backwards, this, std::placeholders::_1), get_max_vel_x_back_ports);
-    factory.registerSimpleAction(this->name+"teb_set_max_vel_theta", std::bind(&CTEBLPModuleBT::set_max_vel_theta, this, std::placeholders::_1), set_max_vel_theta_ports);
-    factory.registerSimpleAction(this->name+"teb_get_max_vel_theta", std::bind(&CTEBLPModuleBT::get_max_vel_theta, this, std::placeholders::_1), get_max_vel_theta_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_goal_tolerances", std::bind(&CTEBLPModuleBT::set_goal_tolerances, this, std::placeholders::_1), set_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_goal_tolerances", std::bind(&CTEBLPModuleBT::get_goal_tolerances, this, std::placeholders::_1), get_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::set_xy_goal_tolerance, this, std::placeholders::_1), set_xy_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_xy_goal_tolerance", std::bind(&CTEBLPModuleBT::get_xy_goal_tolerance, this, std::placeholders::_1), get_xy_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::set_yaw_goal_tolerance, this, std::placeholders::_1), set_yaw_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::get_yaw_goal_tolerance, this, std::placeholders::_1), get_yaw_goal_tol_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_max_vel_x", std::bind(&CTEBLPModuleBT::set_max_vel_x, this, std::placeholders::_1), set_max_vel_x_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_max_vel_x", std::bind(&CTEBLPModuleBT::get_max_vel_x, this, std::placeholders::_1), get_max_vel_x_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::set_mav_vel_x_backwards, this, std::placeholders::_1), set_max_vel_x_back_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::get_mav_vel_x_backwards, this, std::placeholders::_1), get_max_vel_x_back_ports);
+    factory.registerSimpleAction(this->name+"_teb_set_max_vel_theta", std::bind(&CTEBLPModuleBT::set_max_vel_theta, this, std::placeholders::_1), set_max_vel_theta_ports);
+    factory.registerSimpleAction(this->name+"_teb_get_max_vel_theta", std::bind(&CTEBLPModuleBT::get_max_vel_theta, this, std::placeholders::_1), get_max_vel_theta_ports);
 
   }