diff --git a/.gitignore b/.gitignore
index cfee5e7..ebb0632 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,169 @@
+# Created by https://www.toptal.com/developers/gitignore/api/ros2,c++,cmake,visualstudiocode,clion
+# Edit at https://www.toptal.com/developers/gitignore?templates=ros2,c++,cmake,visualstudiocode,clion
 
-# Created by https://www.toptal.com/developers/gitignore/api/ros2
-# Edit at https://www.toptal.com/developers/gitignore?templates=ros2
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CLion ###
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio, WebStorm and Rider
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# AWS User-specific
+.idea/**/aws.xml
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/artifacts
+# .idea/compiler.xml
+# .idea/jarRepositories.xml
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+# *.iml
+# *.ipr
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# SonarLint plugin
+.idea/sonarlint/
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser
+
+### CLion Patch ###
+# Comment Reason: https://github.com/joeblau/gitignore.io/issues/186#issuecomment-215987721
+
+# *.iml
+# modules.xml
+# .idea/misc.xml
+# *.ipr
+
+# Sonarlint plugin
+# https://plugins.jetbrains.com/plugin/7973-sonarlint
+.idea/**/sonarlint/
+
+# SonarQube Plugin
+# https://plugins.jetbrains.com/plugin/7238-sonarqube-community-plugin
+.idea/**/sonarIssues.xml
+
+# Markdown Navigator plugin
+# https://plugins.jetbrains.com/plugin/7896-markdown-navigator-enhanced
+.idea/**/markdown-navigator.xml
+.idea/**/markdown-navigator-enh.xml
+.idea/**/markdown-navigator/
+
+# Cache file creation bug
+# See https://youtrack.jetbrains.com/issue/JBR-2257
+.idea/$CACHE_FILE$
+
+# CodeStream plugin
+# https://plugins.jetbrains.com/plugin/12206-codestream
+.idea/codestream.xml
+
+# Azure Toolkit for IntelliJ plugin
+# https://plugins.jetbrains.com/plugin/8053-azure-toolkit-for-intellij
+.idea/**/azureSettings.xml
+
+### CMake ###
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+### CMake Patch ###
+# External projects
+*-prefix/
 
 ### ROS2 ###
 install/
@@ -16,7 +179,6 @@ build/
 .cproject
 
 # qcreator stuff
-CMakeLists.txt.user
 
 srv/_*.py
 *.pcd
@@ -33,6 +195,27 @@ qtcreator-*
 COLCON_IGNORE
 AMENT_IGNORE
 
-# End of https://www.toptal.com/developers/gitignore/api/ros2
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# End of https://www.toptal.com/developers/gitignore/api/ros2,c++,cmake,visualstudiocode,clion
+
+.cache
+.ccls-cache
 
-.vscode
\ No newline at end of file
diff --git a/src/btree_nodes/src/Extensions.cpp b/src/btree_nodes/src/Extensions.cpp
index 7e4eb1e..730dbbd 100644
--- a/src/btree_nodes/src/Extensions.cpp
+++ b/src/btree_nodes/src/Extensions.cpp
@@ -50,13 +50,13 @@ namespace BT {
         }
 
         auto pose = std::make_shared<geometry_msgs::msg::Pose>();
-        pose->orientation.w=0;
-        pose->orientation.x=0;
-        pose->orientation.y=1;
-        pose->orientation.z=0;
-        pose->position.x= convertFromString<double>(parts[0]);
-        pose->position.y= convertFromString<double>(parts[1]);
-        pose->position.z= convertFromString<double>(parts[2]);
+        pose->orientation.w = 0;
+        pose->orientation.x = 0;
+        pose->orientation.y = 1;
+        pose->orientation.z = 0;
+        pose->position.x = convertFromString<double>(parts[0]);
+        pose->position.y = convertFromString<double>(parts[1]);
+        pose->position.z = convertFromString<double>(parts[2]);
 
         std::cout << "[ generated pose from string ]" << std::endl;
 
@@ -71,9 +71,9 @@ namespace BT {
         }
 
         auto point = std::make_shared<geometry_msgs::msg::Point>();
-        point->x= convertFromString<double>(parts[0]);
-        point->y= convertFromString<double>(parts[1]);
-        point->z= convertFromString<double>(parts[2]);
+        point->x = convertFromString<double>(parts[0]);
+        point->y = convertFromString<double>(parts[1]);
+        point->z = convertFromString<double>(parts[2]);
 
         return point;
     }
@@ -86,10 +86,10 @@ namespace BT {
         }
 
         auto point = std::make_shared<geometry_msgs::msg::Quaternion>();
-        point->w= convertFromString<double>(parts[0]);
-        point->x= convertFromString<double>(parts[1]);
-        point->y= convertFromString<double>(parts[2]);
-        point->z= convertFromString<double>(parts[3]);
+        point->w = convertFromString<double>(parts[0]);
+        point->x = convertFromString<double>(parts[1]);
+        point->y = convertFromString<double>(parts[2]);
+        point->z = convertFromString<double>(parts[3]);
 
         return point;
     }
diff --git a/src/gaz_simulation/world/gaz_ign.sdf b/src/gaz_simulation/world/gaz_ign.sdf
index 2e20d66..a9ebc9e 100644
--- a/src/gaz_simulation/world/gaz_ign.sdf
+++ b/src/gaz_simulation/world/gaz_ign.sdf
@@ -247,12 +247,9 @@
       <pose>0 1 1.25 0 0 0</pose>
 
       <skin>
-        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        <filename>/home/ros/go.dae</filename>
         <scale>1.0</scale>
       </skin>
-      <animation name="walk">
-        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
-      </animation>
       <plugin name="ActorSystem" filename="/home/ros/workspace/build/ign_actor_plugin/libActorPlugin.so">
         <target>2 2 1</target>
         <target_weight>1.15</target_weight>
diff --git a/src/ign_actor_plugin/src/ActorSystem.cpp b/src/ign_actor_plugin/src/ActorSystem.cpp
index d14208c..899ff50 100644
--- a/src/ign_actor_plugin/src/ActorSystem.cpp
+++ b/src/ign_actor_plugin/src/ActorSystem.cpp
@@ -8,6 +8,9 @@
 #define AnimationGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Animation::Goal>
 #define AnimationServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Animation>>&
 
+#define MovementGoalPtr const std::shared_ptr<const ign_actor_plugin::action::Movement::Goal>
+#define MovementServerGoalPtr const std::shared_ptr<rclcpp_action::ServerGoalHandle<ign_actor_plugin::action::Movement>>&
+
 IGNITION_ADD_PLUGIN(
         ActorSystem,
         ignition::gazebo::System,
@@ -41,8 +44,6 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
 
     node = rclcpp::Node::make_shared("moveService", topic);
 
-#pragma clang diagnostic push
-#pragma ide diagnostic ignored "UnusedValue"
     animationServer = rclcpp_action::create_server<ign_actor_plugin::action::Animation>(
             node,
             "animation",
@@ -58,12 +59,17 @@ void ActorSystem::Configure(const ignition::gazebo::Entity &_entity, const std::
             }
     );
 
-    movementServer rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
+    movementServer = rclcpp_action::create_server<ign_actor_plugin::action::Movement>(
             node,
             "movement",
-            [](rclcpp_action::GoalUUID goalUuid, )
-            )
-#pragma clang diagnostic pop
+            [](rclcpp_action::GoalUUID goalUuid, MovementGoalPtr &movementGoal ){
+                return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+                },
+            [](MovementServerGoalPtr goalUuid ){
+                return rclcpp_action::CancelResponse::ACCEPT;
+                },
+            [](MovementServerGoalPtr goalUuid ){}
+            );
 
     printf("Spinning node...\n");
     std::thread spinThread([this]() {