diff --git a/moveit_core/controller_manager/CMakeLists.txt b/moveit_core/controller_manager/CMakeLists.txt
index 70f020623f..3aa21699d5 100644
--- a/moveit_core/controller_manager/CMakeLists.txt
+++ b/moveit_core/controller_manager/CMakeLists.txt
@@ -1 +1 @@
-install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+install(DIRECTORY include/ DESTINATION include)
diff --git a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
index da193cb0c2..fcbe3f0830 100644
--- a/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
+++ b/moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h
@@ -39,7 +39,7 @@
 
 #include <vector>
 #include <string>
-#include <moveit_msgs/RobotTrajectory.h>
+#include <moveit_msgs/msg/robot_trajectory.hpp>
 #include <moveit/macros/class_forward.h>
 
 /// Namespace for the base class of a MoveIt! controller manager
@@ -121,11 +121,11 @@ class MoveItControllerHandle
   }
 
   /** \brief Send a trajectory to the controller.
-   *
-   * The controller is expected to execute the trajectory, but this function call should not block.
-   * Blocking is achievable by calling waitForExecution().
-   * Return false when the controller cannot accept the trajectory. */
-  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0;
+     *
+     * The controller is expected to execute the trajectory, but this function call should not block.
+     * Blocking is achievable by calling waitForExecution().
+     * Return false when the controller cannot accept the trajectory. */
+  virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) = 0;
 
   /** \brief Cancel the execution of any motion using this controller.
    *