diff --git a/plugins/nao6-ros2.json b/plugins/nao6-ros2.json
index 989c729..863a71f 100755
--- a/plugins/nao6-ros2.json
+++ b/plugins/nao6-ros2.json
@@ -1642,7 +1642,7 @@
     {
       "id": "beckon",
       "name": "Beckon",
-      "description": "Come here gesture using wave",
+      "description": "Come here gesture",
       "category": "movement",
       "icon": "arrow-right",
       "timeout": 2500,
@@ -1652,21 +1652,25 @@
         "properties": {}
       },
       "ros2": {
-        "messageType": "std_msgs/msg/String",
-        "topic": "/speech",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
+        "topic": "/joint_angles",
         "payloadMapping": {
           "type": "static",
           "payload": {
-            "data": "^start(animations/Stand/Gestures/Hello_1)"
+            "joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
+            "joint_angles": [0.5, 0.3, -1.2, -0.5],
+            "speed": 0.3
           }
         }
       },
       "implementation": {
         "type": "ros2_topic",
-        "topic": "/speech",
-        "messageType": "std_msgs/msg/String",
+        "topic": "/joint_angles",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
         "messageTemplate": {
-          "data": "^start(animations/Stand/Gestures/Hello_1)"
+          "joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
+          "joint_angles": [0.5, 0.3, -1.2, -0.5],
+          "speed": 0.3
         }
       }
     },