diff --git a/Dockerfile b/Dockerfile
index 660a1a7..ceaedc2 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -12,7 +12,7 @@ RUN source /opt/ros/${ROS_DISTRO}/setup.bash
 RUN apt-get update
 RUN rosdep update && rosdep install --from-paths src --ignore-src -r -y
 RUN if [ "$ROS_DISTRO" = "foxy" ] || [ "$ROS_DISTRO" = "galactic" ] || [ "$ROS_DISTRO" = "rolling" ]; then \
-    apt install -y ros-$ROS_DISTRO-action-tutorials-interfaces ros-$ROS_DISTRO-example-interfaces; \
+    apt install -y ros-$ROS_DISTRO-example-interfaces; \
     fi
 
 # colcon the ws
diff --git a/README.md b/README.md
index 2818888..438ddcc 100644
--- a/README.md
+++ b/README.md
@@ -53,10 +53,10 @@ $ cd ~/ros2_ws
 $ colcon build
 ```
 
-If you are using a deprecated ROS 2 distro (like Foxy or Galactic) or the Rolling distro, you have to install the tutorials and example interfaces:
+If you are using a deprecated ROS 2 distro (like Foxy or Galactic) or the Rolling distro, you may need to install the example interfaces:
 
 ```shell
-$ sudo apt install -y ros-$ROS_DISTRO-action-tutorials-interfaces ros-$ROS_DISTRO-example-interfaces
+$ sudo apt install -y ros-$ROS_DISTRO-example-interfaces
 ```
 
 ## Docker
@@ -337,7 +337,7 @@ $ ros2 run yasmin_demos action_client_demo.py
 
 ```python
 import rclpy
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
 
 import yasmin
 from yasmin import CbState
@@ -971,7 +971,7 @@ $ ros2 run yasmin_demos action_client_demo
 #include <memory>
 #include <string>
 
-#include "action_tutorials_interfaces/action/fibonacci.hpp"
+#include "example_interfaces/action/fibonacci.hpp"
 
 #include "yasmin/cb_state.hpp"
 #include "yasmin/logs.hpp"
@@ -984,7 +984,7 @@ $ ros2 run yasmin_demos action_client_demo
 
 using std::placeholders::_1;
 using std::placeholders::_2;
-using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+using Fibonacci = example_interfaces::action::Fibonacci;
 using namespace yasmin;
 
 std::string
@@ -1045,7 +1045,7 @@ public:
 
     std::stringstream ss;
     ss << "Next number in sequence received: ";
-    for (auto number : feedback->partial_sequence) {
+    for (auto number : feedback->sequence) {
       ss << number << " ";
     }
 
diff --git a/yasmin_demos/CMakeLists.txt b/yasmin_demos/CMakeLists.txt
index 2b24f8a..f0a3a32 100644
--- a/yasmin_demos/CMakeLists.txt
+++ b/yasmin_demos/CMakeLists.txt
@@ -45,7 +45,6 @@ find_package(yasmin_ros REQUIRED)
 find_package(yasmin_viewer REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
-find_package(action_tutorials_interfaces REQUIRED)
 
 # C++
 include_directories(include)
@@ -59,7 +58,6 @@ set(DEPENDENCIES
   yasmin_viewer
   nav_msgs
   example_interfaces
-  action_tutorials_interfaces
 )
 
 # demo
diff --git a/yasmin_demos/package.xml b/yasmin_demos/package.xml
index 3230664..c94bbc6 100644
--- a/yasmin_demos/package.xml
+++ b/yasmin_demos/package.xml
@@ -17,7 +17,6 @@
   <depend>yasmin_viewer</depend>
   <depend>nav_msgs</depend>
   <depend>example_interfaces</depend>
-  <depend>action_tutorials_interfaces</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/yasmin_demos/src/action_client_demo.cpp b/yasmin_demos/src/action_client_demo.cpp
index 50c6ea8..8fd90cc 100644
--- a/yasmin_demos/src/action_client_demo.cpp
+++ b/yasmin_demos/src/action_client_demo.cpp
@@ -17,7 +17,7 @@
 #include <memory>
 #include <string>
 
-#include "action_tutorials_interfaces/action/fibonacci.hpp"
+#include "example_interfaces/action/fibonacci.hpp"
 
 #include "yasmin/cb_state.hpp"
 #include "yasmin/logs.hpp"
@@ -30,7 +30,7 @@
 
 using std::placeholders::_1;
 using std::placeholders::_2;
-using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+using Fibonacci = example_interfaces::action::Fibonacci;
 using namespace yasmin;
 
 /**
@@ -130,7 +130,7 @@ class FibonacciState : public yasmin_ros::ActionState<Fibonacci> {
 
     std::stringstream ss;
     ss << "Next number in sequence received: ";
-    for (auto number : feedback->partial_sequence) {
+    for (auto number : feedback->sequence) {
       ss << number << " ";
     }
 
diff --git a/yasmin_demos/yasmin_demos/action_client_demo.py b/yasmin_demos/yasmin_demos/action_client_demo.py
index c3b38dc..af3968f 100755
--- a/yasmin_demos/yasmin_demos/action_client_demo.py
+++ b/yasmin_demos/yasmin_demos/action_client_demo.py
@@ -16,7 +16,8 @@
 # along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
 import rclpy
-from action_tutorials_interfaces.action import Fibonacci
+from example_interfaces.action import Fibonacci
+
 import yasmin
 from yasmin import CbState, Blackboard, StateMachine
 from yasmin_ros import ActionState