diff --git a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp
index 989c8f9..7b1421b 100644
--- a/rbs_skill_servers/src/move_cartesian_path_action_server.cpp
+++ b/rbs_skill_servers/src/move_cartesian_path_action_server.cpp
@@ -172,7 +172,7 @@ private:
     rt.getRobotTrajectoryMsg(trajectory);
 
     moveit::planning_interface::MoveGroupInterface::Plan plan;
-    plan.trajectory_ = trajectory;
+    plan.trajectory = trajectory;
 
     if (fraction > 0) {
       RCLCPP_INFO(this->get_logger(), "Planning success");
diff --git a/rbs_skill_servers/src/move_topose_action_server.cpp b/rbs_skill_servers/src/move_topose_action_server.cpp
index 553bb53..351069e 100644
--- a/rbs_skill_servers/src/move_topose_action_server.cpp
+++ b/rbs_skill_servers/src/move_topose_action_server.cpp
@@ -143,7 +143,7 @@ private:
     } else {
       RCLCPP_WARN_STREAM(this->get_logger(),
                          "Failed to generate plan because "
-                             << error_code_to_string(plan_err_code));
+                             << moveit::core::errorCodeToString(plan_err_code));
       goal_handle->abort(result);
     }