diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml
index 186ab9f89548b0d26054dfea4aa8a6d8622e52d2..0c48e330941fc56273f205e62dc0bf810c0233a7 100644
--- a/src/xml/bt_definitions.xml
+++ b/src/xml/bt_definitions.xml
@@ -160,22 +160,22 @@
             <output_port name="max_vel_theta"> Local planner max vel theta</output_port>
         </Action>
         <!-- Follow local planner -->
-        <Action ID="nav_module_teb_sfollow_set_update_dist">
+        <Action ID="nav_module_follow_set_update_dist">
             <input_port name="update_dist"> Local planner update_dist parameter</input_port>
         </Action>
-        <Action ID="nav_module_teb_gfollow_get_update_dist">
+        <Action ID="nav_module_follow_get_update_dist">
             <output_port name="update_dist"> Local planner update_dist parameter</output_port>
         </Action>
-        <Action ID="nav_modfollow_set_follow_dist">
+        <Action ID="nav_module_follow_set_follow_dist">
             <input_port name="follow_dist"> Local planner follow_dist parameter</input_port>
         </Action>
-        <Action ID="nav_modfollow_get_follow_dist">
+        <Action ID="nav_module_follow_get_follow_dist">
             <output_port name="follow_dist"> Local planner follow_dist parameter</output_port>
         </Action>
-        <Action ID="nav_module_teb_sefollow_get_follow_restart_dist">
+        <Action ID="nav_module_follow_get_follow_restart_dist">
             <input_port name="follow_restart_dist"> Local planner follow_restart_dist parameter</input_port>
         </Action>
-        <Action ID="nav_module_teb_gefollow_set_follow_restart_dist">
+        <Action ID="nav_module_follow_set_follow_restart_dist">
             <output_port name="follow_restart_dist"> Local planner follow_restart_dist parameter</output_port>
         </Action>
         <Action ID="nav_module_follow_set_spline_dist_samples">