diff --git a/crosbot_explore/CMakeLists.txt b/crosbot_explore/CMakeLists.txt
index a90a582865627f17a60508041bdc499b8e468a64..499abd9a14c3c7f5647e32e3fc1ed28a867d9a4b 100644
--- a/crosbot_explore/CMakeLists.txt
+++ b/crosbot_explore/CMakeLists.txt
@@ -44,13 +44,6 @@ add_service_files(
     SetExplorerMode.srv
 )
 
-## Add actionlib files
-add_action_files(
-    DIRECTORY action
-    FILES
-        Explore.action
-)
-
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
@@ -102,8 +95,8 @@ include_directories(include
 
 ## Declare a cpp library
 add_library(crosbot_explore
-  src/actionServer/actionParameters.cpp
-  src/actionServer/basicClient.cpp
+  src/basicClient/actionParameters.cpp
+  src/basicClient/basicClient.cpp
   src/astar.cpp
   src/explorer.cpp
   src/explorerROS.cpp
diff --git a/crosbot_explore/action/Explore.action b/crosbot_explore/action/Explore.action
deleted file mode 100644
index e54b1b716f4767854b065d3d01bd828775a1bd79..0000000000000000000000000000000000000000
--- a/crosbot_explore/action/Explore.action
+++ /dev/null
@@ -1,35 +0,0 @@
-# Action id
-int32 id
-
-# Action "goal" is the exploration mode
-int32 mode # 0 stop
-           # 1 resume
-           # 2 left wall
-           # 3 right wall
-           # 4 waypoint
-
-# Path to follow for waypoint mode
-nav_msgs/Path   path
-
-# Should navigation target the orientation of the final goal/path
-bool            targetOrientation
-
----
-
-# Corresponding Action id
-int32 id
-
-# Has the mode of operation been immediately achieved.
-bool success
-
-
----
-
-# Corresponding Action id
-int32 id
-
-# Keep updated on continuing state of exploration
-# Search strategy uses mode numbers
-string status
-bool   operating
-int32  searchStrategy
diff --git a/crosbot_explore/include/crosbot_explore/actionServer/actionParameters.hpp b/crosbot_explore/include/crosbot_explore/basicClient/actionParameters.hpp
similarity index 100%
rename from crosbot_explore/include/crosbot_explore/actionServer/actionParameters.hpp
rename to crosbot_explore/include/crosbot_explore/basicClient/actionParameters.hpp
diff --git a/crosbot_explore/include/crosbot_explore/actionServer/basicClient.hpp b/crosbot_explore/include/crosbot_explore/basicClient/basicClient.hpp
similarity index 97%
rename from crosbot_explore/include/crosbot_explore/actionServer/basicClient.hpp
rename to crosbot_explore/include/crosbot_explore/basicClient/basicClient.hpp
index 1d5286cf80901687fc73490d9bfd0747aab85a57..aef915ba8170bb7c0befa75977f70c09863099a5 100644
--- a/crosbot_explore/include/crosbot_explore/actionServer/basicClient.hpp
+++ b/crosbot_explore/include/crosbot_explore/basicClient/basicClient.hpp
@@ -15,7 +15,6 @@
 #include <crosbot_explore/ExplorerFeedback.h>
 #include <crosbot_explore/SetExplorerMode.h>
 
-#include <actionlib/client/simple_action_client.h>
 #include <geometry_msgs/PoseStamped.h>
 #include <ros/publisher.h>
 #include <ros/service.h>
diff --git a/crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp b/crosbot_explore/include/crosbot_explore/basicClient/basicClientCommands.hpp
similarity index 100%
rename from crosbot_explore/include/crosbot_explore/actionServer/basicClientCommands.hpp
rename to crosbot_explore/include/crosbot_explore/basicClient/basicClientCommands.hpp
diff --git a/crosbot_explore/include/crosbot_explore/explorer.hpp b/crosbot_explore/include/crosbot_explore/explorer.hpp
index 47d48145c462fdd7d6193e45af2b82aa2f6e51fb..679c85c8b0bc391f627ea2a1378652f25b14db56 100644
--- a/crosbot_explore/include/crosbot_explore/explorer.hpp
+++ b/crosbot_explore/include/crosbot_explore/explorer.hpp
@@ -11,7 +11,7 @@
 #include <crosbot/thread.hpp>
 #include <crosbot_map/voronoi.hpp>
 
-#include <crosbot_explore/actionServer/actionParameters.hpp>
+#include <crosbot_explore/basicClient/actionParameters.hpp>
 #include <crosbot_explore/driveParameters.hpp>
 #include <crosbot_explore/hysteresisData.hpp>
 #include <crosbot_explore/hysteresisParameters.hpp>
diff --git a/crosbot_explore/src/actionServer/actionParameters.cpp b/crosbot_explore/src/basicClient/actionParameters.cpp
similarity index 86%
rename from crosbot_explore/src/actionServer/actionParameters.cpp
rename to crosbot_explore/src/basicClient/actionParameters.cpp
index 964183995f9fb50798c7c8f5f6ca68d6852643ab..04f1c8ba97720e48e236b4b7f55ed02626402503 100644
--- a/crosbot_explore/src/actionServer/actionParameters.cpp
+++ b/crosbot_explore/src/basicClient/actionParameters.cpp
@@ -5,7 +5,7 @@
  *      Author: rescue
  */
 
-#include <crosbot_explore/actionServer/actionParameters.hpp>
+#include <crosbot_explore/basicClient/actionParameters.hpp>
 
 namespace crosbot_explore {
 
diff --git a/crosbot_explore/src/actionServer/basicClient.cpp b/crosbot_explore/src/basicClient/basicClient.cpp
similarity index 98%
rename from crosbot_explore/src/actionServer/basicClient.cpp
rename to crosbot_explore/src/basicClient/basicClient.cpp
index e0ed74ba9a236a879421b4a725488b308c042433..3a5985ca5bd75471e4cdb4db04eefc8645d18896 100644
--- a/crosbot_explore/src/actionServer/basicClient.cpp
+++ b/crosbot_explore/src/basicClient/basicClient.cpp
@@ -8,9 +8,9 @@
 #include <ros/ros.h>
 
 #include <crosbot/geometry/poses.hpp>
-#include <crosbot_explore/actionServer/actionParameters.hpp>
-#include <crosbot_explore/actionServer/basicClient.hpp>
-#include <crosbot_explore/actionServer/basicClientCommands.hpp>
+#include <crosbot_explore/basicClient/actionParameters.hpp>
+#include <crosbot_explore/basicClient/basicClient.hpp>
+#include <crosbot_explore/basicClient/basicClientCommands.hpp>
 #include <crosbot_explore/nodes/astarExplorerNode.hpp>
 
 #include <std_msgs/String.h>
diff --git a/crosbot_explore/src/nodes/basicActionClient_node.cpp b/crosbot_explore/src/nodes/basicActionClient_node.cpp
index 652bcd6398a8fc529c7f6ef414dda6f5fb67e636..c2832a5b9dcb84c9a531c82a593559261ab39bef 100644
--- a/crosbot_explore/src/nodes/basicActionClient_node.cpp
+++ b/crosbot_explore/src/nodes/basicActionClient_node.cpp
@@ -7,7 +7,7 @@
 
 #include <ros/ros.h>
 
-#include <crosbot_explore/actionServer/basicClient.hpp>
+#include <crosbot_explore/basicClient/basicClient.hpp>
 
 #include <cstdio>
 #include <cstdlib>