diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9869c49d77241583bbd65b7039bf339b769255dd..9bd2b9b5c6c07182ddfda0681dbac0fc2b11351f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(catkin REQUIRED
     roscpp
     tf2_geometry_msgs
     tf2_ros
-    iri_adc_msgs
+    iri_nav_module
 )
 
 find_package(iriutils REQUIRED)
@@ -37,7 +37,7 @@ catkin_package(
     pluginlib
     roscpp
     tf2_ros
-    iri_adc_msgs
+    iri_nav_module
 )
 
 include_directories(
diff --git a/include/iri_opendrive_global_planner/opendrive_planner.h b/include/iri_opendrive_global_planner/opendrive_planner.h
index 11a603b7c899eb02d4d03a7ea5cd5e1631da330a..f40509388ea4912af63b2cda909049099e3ca60e 100644
--- a/include/iri_opendrive_global_planner/opendrive_planner.h
+++ b/include/iri_opendrive_global_planner/opendrive_planner.h
@@ -48,8 +48,8 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_listener.h>
 #include <ros/single_subscriber_publisher.h>
-#include <iri_adc_msgs/get_opendrive_map.h>
-#include <iri_adc_msgs/get_opendrive_nodes.h>
+#include <iri_nav_module/get_opendrive_map.h>
+#include <iri_nav_module/get_opendrive_nodes.h>
 
 #include "opendrive_road_map.h"
 
@@ -124,9 +124,9 @@ class OpendriveGlobalPlanner : public nav_core::BaseGlobalPlanner
     ros::Publisher opendrive_map_pub_;
     void map_connect_callback(const ros::SingleSubscriberPublisher &subs);
     ros::ServiceServer opendrive_map_service;
-    bool get_opendrive_map(iri_adc_msgs::get_opendrive_map::Request  &req,iri_adc_msgs::get_opendrive_map::Response &res);
+    bool get_opendrive_map(iri_nav_module::get_opendrive_map::Request  &req,iri_nav_module::get_opendrive_map::Response &res);
     ros::ServiceServer opendrive_nodes_service;
-    bool get_opendrive_nodes(iri_adc_msgs::get_opendrive_nodes::Request  &req,iri_adc_msgs::get_opendrive_nodes::Response &res);
+    bool get_opendrive_nodes(iri_nav_module::get_opendrive_nodes::Request  &req,iri_nav_module::get_opendrive_nodes::Response &res);
     void create_opendrive_map(std::string &filename,double resolution,double scale_factor,double min_road_length);
     nav_msgs::OccupancyGrid full_path_;
 
diff --git a/package.xml b/package.xml
index 455dd4f5be534f476a7bf08a259ce3cd9ba340c6..729a86cb978251f99a8c073cfbea14584fc62f2e 100644
--- a/package.xml
+++ b/package.xml
@@ -24,7 +24,7 @@
   <depend>pluginlib</depend>
   <depend>roscpp</depend>
   <depend>tf2_ros</depend>
-  <depend>iri_adc_msgs</depend>
+  <depend>iri_nav_module</depend>
 
   <export>
       <nav_core plugin="${prefix}/opendrive_gp_plugin.xml" />
diff --git a/src/opendrive_planner.cpp b/src/opendrive_planner.cpp
index cf5c00e38785434adda2dd9374de1d69b4946a77..46a7164bdbd62ae18376c43ab12c123c5bf8d756 100644
--- a/src/opendrive_planner.cpp
+++ b/src/opendrive_planner.cpp
@@ -182,14 +182,14 @@ void OpendriveGlobalPlanner::create_opendrive_map(std::string &filename,double r
     this->full_path_.data[this->full_path_.info.width*((unsigned int)((y[i]-min_y)/resolution))+((unsigned int)((x[i]-min_x)/resolution))]=0;
 }
 
-bool OpendriveGlobalPlanner::get_opendrive_map(iri_adc_msgs::get_opendrive_map::Request  &req,iri_adc_msgs::get_opendrive_map::Response &res)
+bool OpendriveGlobalPlanner::get_opendrive_map(iri_nav_module::get_opendrive_map::Request  &req,iri_nav_module::get_opendrive_map::Response &res)
 {
   res.opendrive_map=this->full_path_;
 
   return true;
 }
 
-bool OpendriveGlobalPlanner::get_opendrive_nodes(iri_adc_msgs::get_opendrive_nodes::Request  &req,iri_adc_msgs::get_opendrive_nodes::Response &res)
+bool OpendriveGlobalPlanner::get_opendrive_nodes(iri_nav_module::get_opendrive_nodes::Request  &req,iri_nav_module::get_opendrive_nodes::Response &res)
 {
   res.opendrive_nodes.header.frame_id=this->opendrive_frame_id_;
   res.opendrive_nodes.header.stamp=this->best_path_stamp;