diff --git a/ur10_moveit_config/launch/move_group.launch b/ur10_moveit_config/launch/move_group.launch
index bccbb3f472181cb60698fe441063e0f77861492c..eb1ba0a6a0a3b5c530b38008134ea4a142859988 100644
--- a/ur10_moveit_config/launch/move_group.launch
+++ b/ur10_moveit_config/launch/move_group.launch
@@ -50,7 +50,7 @@
 
     <!-- MoveGroup capabilities to load -->
     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-				      move_group/MoveGroupExecuteService
+				      move_group/MoveGroupExecuteTrajectoryAction
 				      move_group/MoveGroupKinematicsService
 				      move_group/MoveGroupMoveAction
 				      move_group/MoveGroupPickPlaceAction
diff --git a/ur3_moveit_config/launch/move_group.launch b/ur3_moveit_config/launch/move_group.launch
index 597251b25d77cf9e907b3fc1bf12d83933a73aa9..625f436c84870a14501c20d61dfcb018fa179438 100644
--- a/ur3_moveit_config/launch/move_group.launch
+++ b/ur3_moveit_config/launch/move_group.launch
@@ -51,7 +51,7 @@
 
     <!-- MoveGroup capabilities to load -->
     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-				      move_group/MoveGroupExecuteService
+				      move_group/MoveGroupExecuteTrajectoryAction
 				      move_group/MoveGroupKinematicsService
 				      move_group/MoveGroupMoveAction
 				      move_group/MoveGroupPickPlaceAction
diff --git a/ur5_moveit_config/launch/move_group.launch b/ur5_moveit_config/launch/move_group.launch
index 31d9d6be5896e4f594579d889e79e3f673aebd10..5e13ea380b6e002df177f814974ff17f4b629fae 100644
--- a/ur5_moveit_config/launch/move_group.launch
+++ b/ur5_moveit_config/launch/move_group.launch
@@ -50,7 +50,7 @@
 
     <!-- MoveGroup capabilities to load -->
     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-				      move_group/MoveGroupExecuteService
+				      move_group/MoveGroupExecuteTrajectoryAction
 				      move_group/MoveGroupKinematicsService
 				      move_group/MoveGroupMoveAction
 				      move_group/MoveGroupPickPlaceAction