diff --git a/src/libs/nav2_util/CMakeLists.txt b/src/libs/nav2_util/CMakeLists.txt
index 5a274cf4f1b4405455e3750aca6b4da3bc33d440..316cb1993ef365589354556c14bccba33d3ef5ce 100644
--- a/src/libs/nav2_util/CMakeLists.txt
+++ b/src/libs/nav2_util/CMakeLists.txt
@@ -50,7 +50,7 @@ add_library(pf_lib SHARED
 )
 
 add_library(sensors_lib SHARED
-  src/sensors/amcl_sensor.cpp
+  src/sensors/sensor.cpp
   src/sensors/odom.cpp
   src/sensors/laser.cpp
 )
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/laser.h b/src/libs/nav2_util/include/nav2_util/sensors/laser.h
index 8270aa408dd48d6afc33b68af6f82bb67c836fdf..61faa0452346604206cdee74f7f82ceded410d52 100644
--- a/src/libs/nav2_util/include/nav2_util/sensors/laser.h
+++ b/src/libs/nav2_util/include/nav2_util/sensors/laser.h
@@ -29,7 +29,7 @@
 #ifndef AMCL_LASER_H
 #define AMCL_LASER_H
 
-#include "nav2_util/sensors/amcl_sensor.h"
+#include "nav2_util/sensors/sensor.h"
 #include "nav2_util/map/map.h"
 
 namespace amcl
@@ -43,7 +43,7 @@ typedef enum
 } laser_model_t;
 
 // Laser sensor data
-class LaserData : public AMCLSensorData
+class LaserData : public SensorData
 {
   public:
     LaserData () {ranges=NULL;};
@@ -56,7 +56,7 @@ class LaserData : public AMCLSensorData
 
 
 // Laseretric sensor model
-class Laser : public AMCLSensor
+class Laser : public Sensor
 {
   // Default constructor
   public: Laser(size_t max_beams, map_t* map);
@@ -88,7 +88,7 @@ class Laser : public AMCLSensor
 
   // Update the filter based on the sensor model.  Returns true if the
   // filter has been updated.
-  public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
+  public: virtual bool UpdateSensor(pf_t *pf, SensorData *data);
 
   // Set the laser's pose after construction
   public: void SetLaserPose(pf_vector_t& laser_pose) 
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/amcl_odom.h b/src/libs/nav2_util/include/nav2_util/sensors/odom.h
similarity index 93%
rename from src/libs/nav2_util/include/nav2_util/sensors/amcl_odom.h
rename to src/libs/nav2_util/include/nav2_util/sensors/odom.h
index 8a4e32d0c29306495d1fa237a9f9da6984a7e5fd..bf2276b00d6a1dd041b7628d7bc839ed9d59ce29 100644
--- a/src/libs/nav2_util/include/nav2_util/sensors/amcl_odom.h
+++ b/src/libs/nav2_util/include/nav2_util/sensors/odom.h
@@ -29,7 +29,7 @@
 #ifndef AMCL_ODOM_H
 #define AMCL_ODOM_H
 
-#include "nav2_util/sensors/amcl_sensor.h"
+#include "nav2_util/sensors/sensor.h"
 #include "nav2_util/pf/pf_pdf.h"
 
 namespace amcl
@@ -44,7 +44,7 @@ typedef enum
 } odom_model_t;
 
 // Odometric sensor data
-class OdomData : public AMCLSensorData
+class OdomData : public SensorData
 {
   // Odometric pose
   public: pf_vector_t pose;
@@ -55,7 +55,7 @@ class OdomData : public AMCLSensorData
 
 
 // Odometric sensor model
-class Odom : public AMCLSensor
+class Odom : public Sensor
 {
   // Default constructor
   public: Odom();
@@ -80,7 +80,7 @@ class Odom : public AMCLSensor
 
   // Update the filter based on the action model.  Returns true if the filter
   // has been updated.
-  public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
+  public: virtual bool UpdateAction(pf_t *pf, SensorData *data);
 
   // Current data timestamp
   private: double time;
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/amcl_sensor.h b/src/libs/nav2_util/include/nav2_util/sensors/sensor.h
similarity index 84%
rename from src/libs/nav2_util/include/nav2_util/sensors/amcl_sensor.h
rename to src/libs/nav2_util/include/nav2_util/sensors/sensor.h
index 392f13621f57f515a5feb8d77499b2dd474d64b3..499837512a76fadaf9bbaf3b23b36c1dff0222cf 100644
--- a/src/libs/nav2_util/include/nav2_util/sensors/amcl_sensor.h
+++ b/src/libs/nav2_util/include/nav2_util/sensors/sensor.h
@@ -34,29 +34,29 @@ namespace amcl
 {
 
 // Forward declarations
-class AMCLSensorData;
+class SensorData;
 
 
 // Base class for all AMCL sensors
-class AMCLSensor
+class Sensor
 {
   // Default constructor
-  public: AMCLSensor();
+  public: Sensor();
          
   // Default destructor
-  public: virtual ~AMCLSensor();
+  public: virtual ~Sensor();
 
   // Update the filter based on the action model.  Returns true if the filter
   // has been updated.
-  public: virtual bool UpdateAction(pf_t *pf, AMCLSensorData *data);
+  public: virtual bool UpdateAction(pf_t *pf, SensorData *data);
 
   // Initialize the filter based on the sensor model.  Returns true if the
   // filter has been initialized.
-  public: virtual bool InitSensor(pf_t *pf, AMCLSensorData *data);
+  public: virtual bool InitSensor(pf_t *pf, SensorData *data);
 
   // Update the filter based on the sensor model.  Returns true if the
   // filter has been updated.
-  public: virtual bool UpdateSensor(pf_t *pf, AMCLSensorData *data);
+  public: virtual bool UpdateSensor(pf_t *pf, SensorData *data);
 
   // Flag is true if this is the action sensor
   public: bool is_action;
@@ -75,18 +75,18 @@ class AMCLSensor
   public: virtual void ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig);
 
   // Draw sensor data
-  public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data);
+  public: virtual void UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, SensorData *data);
 #endif
 };
 
 
 
 // Base class for all AMCL sensor measurements
-class AMCLSensorData
+class SensorData
 {
   // Pointer to sensor that generated the data
-  public: AMCLSensor *sensor;
-          virtual ~AMCLSensorData() {}
+  public: Sensor *sensor;
+          virtual ~SensorData() {}
 
   // Data timestamp
   public: double time;
diff --git a/src/libs/nav2_util/src/sensors/laser.cpp b/src/libs/nav2_util/src/sensors/laser.cpp
index b75651ee3f7779aece833812fa8f3bf4e9f47b01..c45bc097311c9a49c62df3b2e0f4cd3beb7285d6 100644
--- a/src/libs/nav2_util/src/sensors/laser.cpp
+++ b/src/libs/nav2_util/src/sensors/laser.cpp
@@ -39,7 +39,7 @@ using namespace amcl;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Default constructor
-Laser::Laser(size_t max_beams, map_t* map) : AMCLSensor(), 
+Laser::Laser(size_t max_beams, map_t* map) : Sensor(), 
 						     max_samples(0), max_obs(0), 
 						     temp_obs(NULL)
 {
@@ -118,7 +118,7 @@ Laser::SetModelLikelihoodFieldProb(double z_hit,
 
 ////////////////////////////////////////////////////////////////////////////////
 // Apply the laser sensor model
-bool Laser::UpdateSensor(pf_t *pf, AMCLSensorData *data)
+bool Laser::UpdateSensor(pf_t *pf, SensorData *data)
 {
   if (this->max_beams < 2)
     return false;
diff --git a/src/libs/nav2_util/src/sensors/odom.cpp b/src/libs/nav2_util/src/sensors/odom.cpp
index e014efa803b27cc63847b8299a83293a98c94ceb..1d8cd354403b7680c9ffdb9406826b68387b7720 100644
--- a/src/libs/nav2_util/src/sensors/odom.cpp
+++ b/src/libs/nav2_util/src/sensors/odom.cpp
@@ -59,7 +59,7 @@ angle_diff(double a, double b)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Default constructor
-Odom::Odom() : AMCLSensor()
+Odom::Odom() : Sensor()
 {
   this->time = 0.0;
 }
@@ -110,7 +110,7 @@ Odom::SetModel( odom_model_t type,
 
 ////////////////////////////////////////////////////////////////////////////////
 // Apply the action model
-bool Odom::UpdateAction(pf_t *pf, AMCLSensorData *data)
+bool Odom::UpdateAction(pf_t *pf, SensorData *data)
 {
   OdomData *ndata;
   ndata = (OdomData*) data;
diff --git a/src/libs/nav2_util/src/sensors/amcl_sensor.cpp b/src/libs/nav2_util/src/sensors/sensor.cpp
similarity index 79%
rename from src/libs/nav2_util/src/sensors/amcl_sensor.cpp
rename to src/libs/nav2_util/src/sensors/sensor.cpp
index b5d8234414b3f822a4dfb4f376259c27c39d103d..4f9fc3fb369d1155e3d5a45d99a80a18c71c5651 100644
--- a/src/libs/nav2_util/src/sensors/amcl_sensor.cpp
+++ b/src/libs/nav2_util/src/sensors/sensor.cpp
@@ -28,24 +28,24 @@
 ///////////////////////////////////////////////////////////////////////////
 
 
-#include "nav2_util/sensors/amcl_sensor.h"
+#include "nav2_util/sensors/sensor.h"
 
 using namespace amcl;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Default constructor
-AMCLSensor::AMCLSensor()
+Sensor::Sensor()
 {
   return;
 }
 
-AMCLSensor::~AMCLSensor()
+Sensor::~Sensor()
 {
 }
 
 ////////////////////////////////////////////////////////////////////////////////
 // Apply the action model
-bool AMCLSensor::UpdateAction(pf_t * /*pf*/, AMCLSensorData * /*data*/)
+bool Sensor::UpdateAction(pf_t * /*pf*/, SensorData * /*data*/)
 {
   return false;
 }
@@ -53,7 +53,7 @@ bool AMCLSensor::UpdateAction(pf_t * /*pf*/, AMCLSensorData * /*data*/)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Initialize the filter
-bool AMCLSensor::InitSensor(pf_t * /*pf*/, AMCLSensorData * /*data*/)
+bool Sensor::InitSensor(pf_t * /*pf*/, SensorData * /*data*/)
 {
   return false;
 }
@@ -61,7 +61,7 @@ bool AMCLSensor::InitSensor(pf_t * /*pf*/, AMCLSensorData * /*data*/)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Apply the sensor model
-bool AMCLSensor::UpdateSensor(pf_t * /*pf*/, AMCLSensorData * /*data*/)
+bool Sensor::UpdateSensor(pf_t * /*pf*/, SensorData * /*data*/)
 {
   return false;
 }
@@ -71,7 +71,7 @@ bool AMCLSensor::UpdateSensor(pf_t * /*pf*/, AMCLSensorData * /*data*/)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Setup the GUI
-void AMCLSensor::SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
+void Sensor::SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
 {
   return;
 }
@@ -79,7 +79,7 @@ void AMCLSensor::SetupGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Shutdown the GUI
-void AMCLSensor::ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
+void Sensor::ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
 {
   return;
 }
@@ -87,7 +87,7 @@ void AMCLSensor::ShutdownGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig)
 
 ////////////////////////////////////////////////////////////////////////////////
 // Draw sensor data
-void AMCLSensor::UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, AMCLSensorData *data)
+void Sensor::UpdateGUI(rtk_canvas_t *canvas, rtk_fig_t *robot_fig, SensorData *data)
 {
   return;
 }
diff --git a/src/localization/nav2_amcl/src/amcl_node.cpp b/src/localization/nav2_amcl/src/amcl_node.cpp
index 6909cd212e55fa8afd3a06d07b8f48f133920188..64939d0880f438d937a785a05dcccfc155ce6659 100644
--- a/src/localization/nav2_amcl/src/amcl_node.cpp
+++ b/src/localization/nav2_amcl/src/amcl_node.cpp
@@ -63,7 +63,7 @@ using amcl::ODOM_MODEL_OMNI;
 using amcl::ODOM_MODEL_DIFF_CORRECTED;
 using amcl::OdomData;
 using amcl::ODOM_MODEL_OMNI_CORRECTED;
-using amcl::AMCLSensorData;
+using amcl::SensorData;
 using amcl::LaserData;
 
 static double
@@ -1055,7 +1055,7 @@ AmclNode::laserReceived(sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan)
     odata.delta = delta;
 
     // Use the action data to update the filter
-    odom_->UpdateAction(pf_, reinterpret_cast<AMCLSensorData *>(&odata));
+    odom_->UpdateAction(pf_, reinterpret_cast<SensorData *>(&odata));
 
     // Pose at last filter update
     // this->pf_odom_pose = pose;
@@ -1129,7 +1129,7 @@ AmclNode::laserReceived(sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan)
         (i * angle_increment);
     }
 
-    lasers_[laser_index]->UpdateSensor(pf_, reinterpret_cast<AMCLSensorData *>(&ldata));
+    lasers_[laser_index]->UpdateSensor(pf_, reinterpret_cast<SensorData *>(&ldata));
 
     lasers_update_[laser_index] = false;