diff --git a/nexus_capabilities/src/capabilities/rmf_request.cpp b/nexus_capabilities/src/capabilities/rmf_request.cpp
index 99f5a9d..2bb63f6 100644
--- a/nexus_capabilities/src/capabilities/rmf_request.cpp
+++ b/nexus_capabilities/src/capabilities/rmf_request.cpp
@@ -26,7 +26,7 @@ namespace rmf {
 
 BT::NodeStatus DispatchRequest::onStart()
 {
-  const auto destinations = this->getInput<std::deque<AmrDestination>>("destinations");
+  const auto destinations = this->getInput<std::deque<Destination>>("destinations");
   if (!destinations)
   {
     RCLCPP_ERROR(
@@ -48,7 +48,7 @@ BT::NodeStatus DispatchRequest::onStart()
   return BT::NodeStatus::RUNNING;
 }
 
-void DispatchRequest::submit_itinerary(const std::deque<AmrDestination>& destinations)
+void DispatchRequest::submit_itinerary(const std::deque<Destination>& destinations)
 {
   nlohmann::json j;
   j["type"] = "dispatch_task_request";
@@ -135,14 +135,14 @@ BT::NodeStatus ExtractDestinations::tick()
 {
   const auto ctx = this->_ctx_mgr->current_context();
   const auto& task = ctx->task;
-  std::deque<AmrDestination> destinations;
+  std::deque<Destination> destinations;
   for (const auto& node : task.data)
   {
     if (node["type"] && node["destination"])
     {
       auto type = node["type"].as<std::string>();
       auto destination = node["destination"].as<std::string>();
-      destinations.push_back(AmrDestination {type, destination});
+      destinations.push_back(Destination {type, destination});
     }
     else
     {
@@ -158,7 +158,7 @@ BT::NodeStatus ExtractDestinations::tick()
 
 BT::NodeStatus UnpackDestinationData::tick()
 {
-  const auto destination = this->getInput<AmrDestination>("destination");
+  const auto destination = this->getInput<Destination>("destination");
   if (!destination)
   {
     RCLCPP_ERROR(
@@ -203,7 +203,7 @@ BT::NodeStatus LoopDestinations::tick()
 {
   if (!this->_initialized)
   {
-    auto queue = this->getInput<std::deque<AmrDestination>>("queue");
+    auto queue = this->getInput<std::deque<Destination>>("queue");
     if (!queue)
     {
       RCLCPP_ERROR(
diff --git a/nexus_capabilities/src/capabilities/rmf_request.hpp b/nexus_capabilities/src/capabilities/rmf_request.hpp
index 5e8a596..56df2ad 100644
--- a/nexus_capabilities/src/capabilities/rmf_request.hpp
+++ b/nexus_capabilities/src/capabilities/rmf_request.hpp
@@ -37,7 +37,7 @@ namespace nexus::capabilities {
 
 namespace rmf {
 
-struct AmrDestination {
+struct Destination {
   // Either "pickup" or "dropoff"
   std::string action;
   std::string workcell;
@@ -58,7 +58,7 @@ public: using ApiResponse = rmf_task_msgs::msg::ApiResponse;
 
 public: static BT::PortsList providedPorts()
   {
-    return { BT::InputPort<std::deque<AmrDestination>>("destinations", "Destinations to visit"),
+    return { BT::InputPort<std::deque<Destination>>("destinations", "Destinations to visit"),
       BT::OutputPort<std::string>("rmf_task_id", "The resulting RMF task id")
     };
   }
@@ -74,7 +74,7 @@ public: BT::NodeStatus onRunning() override;
 
 public: void onHalted() override {}
 
-private: void submit_itinerary(const std::deque<AmrDestination>& destinations);
+private: void submit_itinerary(const std::deque<Destination>& destinations);
 
 private: void api_response_cb(const ApiResponse& msg);
 
@@ -94,7 +94,7 @@ class ExtractDestinations : public BT::SyncActionNode
 public: static BT::PortsList providedPorts()
   {
     return {
-      BT::OutputPort<std::deque<AmrDestination>>("destinations"),
+      BT::OutputPort<std::deque<Destination>>("destinations"),
     };
   }
 
@@ -115,7 +115,7 @@ class UnpackDestinationData : public BT::SyncActionNode
 public: static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<AmrDestination>("destination"),
+      BT::InputPort<Destination>("destination"),
       BT::OutputPort<std::string>("workcell"),
       BT::OutputPort<std::string>("type"),
     };
@@ -165,8 +165,8 @@ class LoopDestinations : public BT::DecoratorNode
 public: static BT::PortsList providedPorts()
   {
     return {
-      BT::InputPort<std::deque<AmrDestination>>("queue"),
-      BT::OutputPort<AmrDestination>("value"),
+      BT::InputPort<std::deque<Destination>>("queue"),
+      BT::OutputPort<Destination>("value"),
     };
   }
 
@@ -183,7 +183,7 @@ public: BT::NodeStatus tick() override;
 
 private: rclcpp_lifecycle::LifecycleNode::SharedPtr _node;
 private: bool _initialized = false;
-private: std::deque<AmrDestination> _queue;
+private: std::deque<Destination> _queue;
 };
 
 class WaitForAmr: public BT::StatefulActionNode