diff --git a/src/rai_core/rai/tools/ros2/__init__.py b/src/rai_core/rai/tools/ros2/__init__.py
index 70e411fbd..f996711dc 100644
--- a/src/rai_core/rai/tools/ros2/__init__.py
+++ b/src/rai_core/rai/tools/ros2/__init__.py
@@ -18,7 +18,6 @@
     raise ImportError(
         "This is a ROS2 feature. Make sure ROS2 is installed and sourced."
     )
-
 from .cli import (
     ROS2CLIToolkit,
     ros2_action,
@@ -48,11 +47,6 @@
     ROS2TopicsToolkit,
     StartROS2ActionTool,
 )
-from .manipulation.custom import (
-    GetObjectPositionsTool,
-    MoveToPointTool,
-    MoveToPointToolInput,
-)
 from .navigation.nav2 import (
     CancelNavigateToPoseTool,
     GetNavigateToPoseFeedbackTool,
@@ -71,7 +65,6 @@
     "CancelROS2ActionTool",
     "GetNavigateToPoseFeedbackTool",
     "GetNavigateToPoseResultTool",
-    "GetObjectPositionsTool",
     "GetROS2ActionFeedbackTool",
     "GetROS2ActionIDsTool",
     "GetROS2ActionResultTool",
@@ -83,8 +76,6 @@
     "GetROS2TopicsNamesAndTypesTool",
     "GetROS2TransformConfiguredTool",
     "GetROS2TransformTool",
-    "MoveToPointTool",
-    "MoveToPointToolInput",
     "Nav2Toolkit",
     "NavigateToPoseTool",
     "PublishROS2MessageTool",
diff --git a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py
index ab8c868aa..96f9d3d73 100644
--- a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py
+++ b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/gdino_tools.py
@@ -16,11 +16,10 @@
 
 import numpy as np
 import sensor_msgs.msg
-from langchain_core.tools import BaseTool
 from pydantic import BaseModel, Field
-from rai.communication.ros2 import ROS2Connector
 from rai.communication.ros2.api import convert_ros_img_to_ndarray
 from rai.communication.ros2.ros_async import get_future_result
+from rai.tools.ros2.base import BaseROS2Tool
 from rclpy.exceptions import (
     ParameterNotDeclaredException,
     ParameterUninitializedException,
@@ -78,9 +77,7 @@ class DistanceMeasurement(NamedTuple):
 
 
 # --------------------- Tools ---------------------
-class GroundingDinoBaseTool(BaseTool):
-    connector: ROS2Connector = Field(..., exclude=True)
-
+class GroundingDinoBaseTool(BaseROS2Tool):
     box_threshold: float = Field(default=0.35, description="Box threshold for GDINO")
     text_threshold: float = Field(default=0.45, description="Text threshold for GDINO")
 
@@ -89,7 +86,7 @@ def _call_gdino_node(
     ) -> Future:
         cli = self.connector.node.create_client(RAIGroundingDino, GDINO_SERVICE_NAME)
         while not cli.wait_for_service(timeout_sec=1.0):
-            self.node.get_logger().info(
+            self.connector.node.get_logger().info(
                 f"service {GDINO_SERVICE_NAME} not available, waiting again..."
             )
         req = RAIGroundingDino.Request()
diff --git a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py
index 16c6fc2df..f4171a58e 100644
--- a/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py
+++ b/src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py
@@ -18,14 +18,13 @@
 import numpy as np
 import rclpy
 import sensor_msgs.msg
-from langchain_core.tools import BaseTool
 from pydantic import BaseModel, Field
 from rai.communication.ros2.api import (
     convert_ros_img_to_base64,
     convert_ros_img_to_ndarray,
 )
-from rai.communication.ros2.connectors import ROS2Connector
 from rai.communication.ros2.ros_async import get_future_result
+from rai.tools.ros2.base import BaseROS2Tool
 from rclpy import Future
 from rclpy.exceptions import (
     ParameterNotDeclaredException,
@@ -67,12 +66,7 @@ class GetGrabbingPointInput(BaseModel):
 
 
 # --------------------- Tools ---------------------
-class GetSegmentationTool:
-    connector: ROS2Connector = Field(..., exclude=True)
-
-    name: str = ""
-    description: str = ""
-
+class GetSegmentationTool(BaseROS2Tool):
     box_threshold: float = Field(default=0.35, description="Box threshold for GDINO")
     text_threshold: float = Field(default=0.45, description="Text threshold for GDINO")
 
@@ -194,9 +188,7 @@ def depth_to_point_cloud(
     return points
 
 
-class GetGrabbingPointTool(BaseTool):
-    connector: ROS2Connector = Field(..., exclude=True)
-
+class GetGrabbingPointTool(BaseROS2Tool):
     name: str = "GetGrabbingPointTool"
     description: str = "Get the grabbing point of an object"
     pcd: List[Any] = []