diff --git a/explore/CMakeLists.txt b/explore/CMakeLists.txt
index d506f3e..ccdd448 100644
--- a/explore/CMakeLists.txt
+++ b/explore/CMakeLists.txt
@@ -15,6 +15,20 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+# Set flag depending on distro
+if(NOT DEFINED ENV{ROS_DISTRO})
+  message(FATAL_ERROR "ROS_DISTRO is not defined." )
+endif()
+if("$ENV{ROS_DISTRO}" STREQUAL "eloquent")
+  message(STATUS "Build for ROS2 eloquent")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DELOQUENT")
+elseif("$ENV{ROS_DISTRO}" STREQUAL "dashing")
+  message(STATUS "Build for ROS2 dashing")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDASHING")
+else()
+  message(STATUS "BuilD for ROS2: " "$ENV{ROS_DISTRO}")
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -27,7 +41,6 @@ find_package(nav2_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(map_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
-
 find_package(nav2_costmap_2d REQUIRED)
 
 
@@ -63,6 +76,7 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
+
 add_executable(explore
   src/costmap_client.cpp
   src/explore.cpp
diff --git a/explore/include/explore/explore.h b/explore/include/explore/explore.h
index 4ebd16a..2a93d49 100644
--- a/explore/include/explore/explore.h
+++ b/explore/include/explore/explore.h
@@ -58,7 +58,13 @@
 #include "rclcpp_action/rclcpp_action.hpp"
 
 using namespace std::placeholders;
-
+#ifdef ELOQUENT
+#define ACTION_NAME "/NavigateToPose"
+#elif DASHING
+#define ACTION_NAME "/NavigateToPose"
+#else
+#define ACTION_NAME "/navigate_to_pose"
+#endif
 namespace explore
 {
 /**
diff --git a/explore/src/explore.cpp b/explore/src/explore.cpp
index 8e320b4..b2cd5bd 100644
--- a/explore/src/explore.cpp
+++ b/explore/src/explore.cpp
@@ -68,12 +68,8 @@ Explore::Explore()
   this->get_parameter("gain_scale", gain_scale_);
   this->get_parameter("min_frontier_size", min_frontier_size);
   progress_timeout_ = timeout;
-
   move_base_client_ =
-      rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(this,
-                                                                      "/navigat"
-                                                                      "e_to_"
-                                                                      "pose");
+      rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(this,ACTION_NAME);
 
   search_ = frontier_exploration::FrontierSearch(costmap_client_.getCostmap(),
                                                  potential_scale_, gain_scale_,