diff --git a/include/ap1/planning/planner_node.hpp b/include/ap1/planning/planner_node.hpp
index f938728..f8e5929 100644
--- a/include/ap1/planning/planner_node.hpp
+++ b/include/ap1/planning/planner_node.hpp
@@ -22,16 +22,14 @@
 
 #include "ap1_msgs/msg/speed_profile_stamped.hpp"
 #include "ap1_msgs/msg/target_path_stamped.hpp"
-#include "ap1_msgs/msg/turn_angle_stamped.hpp"
-#include "ap1_msgs/msg/vehicle_speed_stamped.hpp"
+#include "ap1_msgs/msg/float_stamped.hpp"
 
 #include "ap1/planning/math_utils.hpp"
 #include "ap1/planning/waypoint_utils.hpp"
 
 using ap1_msgs::msg::SpeedProfileStamped;
 using ap1_msgs::msg::TargetPathStamped;
-using ap1_msgs::msg::TurnAngleStamped;
-using ap1_msgs::msg::VehicleSpeedStamped;
+using ap1_msgs::msg::FloatStamped;
 using geometry_msgs::msg::Point;
 using rclcpp::TimerBase;
 using std_msgs::msg::Float32MultiArray;
@@ -71,9 +69,9 @@ class PlannerNode : public rclcpp::Node
     // Subscriptions
     // Note: use SharedPtrs for all messages since they're dynamically allocated in ROS
     rclcpp::Subscription<Float32MultiArray>::SharedPtr hd_map_sub_; // WRONG TYPE SHOULD BE XML
-    rclcpp::Subscription<VehicleSpeedStamped>::SharedPtr vehicle_speed_sub_;
+    rclcpp::Subscription<FloatStamped>::SharedPtr vehicle_speed_sub_;
     rclcpp::Subscription<Point>::SharedPtr target_location_sub_;
-    rclcpp::Subscription<VehicleSpeedStamped>::SharedPtr target_speed_sub_;
+    rclcpp::Subscription<FloatStamped>::SharedPtr target_speed_sub_;
 
     // Publishers
     rclcpp::Publisher<SpeedProfileStamped>::SharedPtr speed_profile_pub_;
@@ -81,10 +79,10 @@ class PlannerNode : public rclcpp::Node
 
     // # Callbacks
     void on_hd_map(const Float32MultiArray::SharedPtr); // WRONG TYPE SHOULD BE XML
-    void on_turn_angle(const TurnAngleStamped::SharedPtr);
-    void on_vehicle_speed(const VehicleSpeedStamped::SharedPtr);
+    void on_turn_angle(const FloatStamped::SharedPtr);
+    void on_vehicle_speed(const FloatStamped::SharedPtr);
     void on_target_location(const geometry_msgs::msg::Point::SharedPtr loc);
-    void on_target_speed(const VehicleSpeedStamped::SharedPtr);
+    void on_target_speed(const FloatStamped::SharedPtr);
 
     /**
      * @brief Mocks map data for testing.
diff --git a/src/planner_node.cpp b/src/planner_node.cpp
index ecc74cd..c287eb2 100644
--- a/src/planner_node.cpp
+++ b/src/planner_node.cpp
@@ -24,8 +24,7 @@
 
 #include "ap1_msgs/msg/speed_profile_stamped.hpp"
 #include "ap1_msgs/msg/target_path_stamped.hpp"
-#include "ap1_msgs/msg/turn_angle_stamped.hpp"
-#include "ap1_msgs/msg/vehicle_speed_stamped.hpp"
+#include "ap1_msgs/msg/float_stamped.hpp"
 
 #include "ap1/planning/planner_node.hpp"
 
@@ -46,13 +45,13 @@ PlannerNode::PlannerNode(double rate_hz) : Node("planner_node"), rate_hz_(rate_h
     hd_map_sub_ = this->create_subscription<Float32MultiArray>(
         "/ap1/map/full_had_map", 10,
         std::bind(&PlannerNode::on_hd_map, this, std::placeholders::_1));
-    vehicle_speed_sub_ = this->create_subscription<VehicleSpeedStamped>(
+    vehicle_speed_sub_ = this->create_subscription<FloatStamped>(
         "/ap1/actuation/speed_actual", 10,
         std::bind(&PlannerNode::on_vehicle_speed, this, std::placeholders::_1));
     target_location_sub_ = this->create_subscription<Point>(
         "/ap1/control/target_location", 10,
         std::bind(&PlannerNode::on_target_location, this, std::placeholders::_1));
-    target_speed_sub_ = this->create_subscription<VehicleSpeedStamped>(
+    target_speed_sub_ = this->create_subscription<FloatStamped>(
         "/ap1/control/target_speed", 10,
         std::bind(&PlannerNode::on_target_speed, this, std::placeholders::_1));
 
@@ -80,19 +79,19 @@ void PlannerNode::on_hd_map(const Float32MultiArray::SharedPtr)
     // todo: implement
 }
 
-void PlannerNode::on_turn_angle(const TurnAngleStamped::SharedPtr)
+void PlannerNode::on_turn_angle(const FloatStamped::SharedPtr)
 {
     // todo: implement
 }
 
-void PlannerNode::on_vehicle_speed(const VehicleSpeedStamped::SharedPtr)
+void PlannerNode::on_vehicle_speed(const FloatStamped::SharedPtr)
 {
     // todo: implement
 }
 
-void PlannerNode::on_target_speed(const VehicleSpeedStamped::SharedPtr msg)
+void PlannerNode::on_target_speed(const FloatStamped::SharedPtr msg)
 {
-    this->speed_ = msg->speed;
+    this->speed_ = msg->value;
 
     std::string s = "Command: set speed to " + std::to_string(this->speed_);
     RCLCPP_INFO_STREAM(this->get_logger(), s);