diff --git a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
index ec1011a23..746162e35 100644
--- a/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
+++ b/smacc2/include/smacc2/client_bases/smacc_action_client_base.hpp
@@ -332,8 +332,8 @@ class SmaccActionClientBase : public ISmaccActionClient
         << getName()
         << "] Action request "
         // << rclcpp_action::to_string(this->goalHandle_->get_goal_id()) <<". Goal sent to " << this->action_endpoint_
-        << "\": " << std::endl
-        << goal);
+        << "\": " << std::endl);
+        // << goal);
 
     // if (client_->isServerConnected())
     // {
diff --git a/smacc2/include/smacc2/client_bases/smacc_http_client.hpp b/smacc2/include/smacc2/client_bases/smacc_http_client.hpp
deleted file mode 100644
index 0d42bae37..000000000
--- a/smacc2/include/smacc2/client_bases/smacc_http_client.hpp
+++ /dev/null
@@ -1,210 +0,0 @@
-// Copyright 2021 RobosoftAI Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*****************************************************************************************************************
- *
- * 	 Authors: Jaycee Lock
- *
- ******************************************************************************************************************/
-
-#pragma once
-
-#include <boost/asio/executor_work_guard.hpp>
-#include <boost/asio/strand.hpp>
-#include <boost/beast/core.hpp>
-#include <boost/beast/http.hpp>
-#include <boost/beast/version.hpp>
-#include <iostream>
-#include <memory>
-#include <optional>
-#include <smacc2/smacc_client.hpp>
-#include <string>
-#include <thread>
-#include <unordered_map>
-
-namespace smacc2 {
-namespace client_bases {
-class SmaccHttpClient : public smacc2::ISmaccClient {
-  class http_session : public std::enable_shared_from_this<http_session> {
-    boost::asio::ip::tcp::resolver resolver_;
-    boost::beast::tcp_stream stream_;
-    boost::beast::flat_buffer buffer_;  // (Must persist between reads)
-    boost::beast::http::request<boost::beast::http::empty_body> req_;
-    boost::beast::http::response<boost::beast::http::string_body> res_;
-
-   public:
-    using TResponse =
-        const boost::beast::http::response<boost::beast::http::string_body> &;
-
-    // Objects are constructed with a strand to
-    // ensure that handlers do not execute concurrently.
-    http_session(boost::asio::io_context &ioc,
-                 const std::function<void(TResponse)> response)
-        : resolver_(boost::asio::make_strand(ioc)),
-          stream_(boost::asio::make_strand(ioc)),
-          onResponse{response} {}
-
-    // Start the asynchronous operation
-    void run(const std::string &host, const std::string &target,
-             const std::string &port,
-             const boost::beast::http::verb http_method, const int &version) {
-      // Set up an HTTP request
-      req_.version(version);
-      req_.method(http_method);
-      req_.target(target);
-      req_.set(boost::beast::http::field::host, host);
-      req_.set(boost::beast::http::field::user_agent,
-               BOOST_BEAST_VERSION_STRING);
-
-      // Look up the domain name
-      resolver_.async_resolve(
-          host.c_str(), port.c_str(),
-          boost::beast::bind_front_handler(&http_session::on_resolve,
-                                           shared_from_this()));
-    }
-
-    void on_resolve(boost::beast::error_code ec,
-                    boost::asio::ip::tcp::resolver::results_type results) {
-      if (ec) return fail(ec, "resolve");
-
-      // Set a timeout on the operation
-      stream_.expires_after(std::chrono::seconds(30));
-
-      // Make the connection on the IP address we get from a lookup
-      stream_.async_connect(
-          results, boost::beast::bind_front_handler(&http_session::on_connect,
-                                                    shared_from_this()));
-    }
-
-   private:
-    void fail(boost::beast::error_code ec, char const *what) {
-      std::cerr << what << ": " << ec.message() << "\n";
-      res_.result(boost::beast::http::status::bad_request);
-      res_.reason() = ec.message();
-      onResponse(res_);
-    }
-
-    void on_connect(
-        boost::beast::error_code ec,
-        boost::asio::ip::tcp::resolver::results_type::endpoint_type) {
-      if (ec) return fail(ec, "connect");
-
-      // Set a timeout on the operation
-      stream_.expires_after(std::chrono::seconds(30));
-
-      // Send the HTTP request to the remote host
-      boost::beast::http::async_write(
-          stream_, req_,
-          boost::beast::bind_front_handler(&http_session::on_write,
-                                           shared_from_this()));
-    }
-
-    void on_write(boost::beast::error_code ec, std::size_t bytes_transferred) {
-      boost::ignore_unused(bytes_transferred);
-
-      if (ec) return fail(ec, "write");
-
-      // Receive the HTTP response
-      boost::beast::http::async_read(
-          stream_, buffer_, res_,
-          boost::beast::bind_front_handler(&http_session::on_read,
-                                           shared_from_this()));
-    }
-
-    void on_read(boost::beast::error_code ec, std::size_t bytes_transferred) {
-      boost::ignore_unused(bytes_transferred);
-
-      if (ec) return fail(ec, "read");
-
-      // Gracefully close the socket
-      stream_.socket().shutdown(boost::asio::ip::tcp::socket::shutdown_both,
-                                ec);
-
-      // not_connected happens sometimes so don't bother reporting it.
-      if (ec && ec != boost::beast::errc::not_connected)
-        return fail(ec, "shutdown");
-
-      // If we get here then the connection is closed gracefully
-      onResponse(res_);
-    }
-
-    std::function<void(const boost::beast::http::response<
-                       boost::beast::http::string_body> &response)>
-        onResponse;
-  };
-
- public:
-  enum class kHttpRequestMethod {
-    GET = static_cast<int>(boost::beast::http::verb::get),
-    POST = static_cast<int>(boost::beast::http::verb::post),
-  };
-
-  explicit SmaccHttpClient(const std::string &server, const int &timeout = 1500)
-      : worker_guard_{boost::asio::make_work_guard(io_context_)},
-        initialized_{false},
-        server_name_{server},
-        timeout_{timeout} {
-    if (!server.substr(0, 5).compare("https")) {
-      // User explicitly using http
-      is_ssl_ = false;
-    } else {
-      is_ssl_ = true;
-    }
-  }
-
-  virtual ~SmaccHttpClient() {
-    worker_guard_.reset();
-    tcp_connection_runner_.join();
-  }
-
-  void configure() {
-    if (!initialized_) {
-      tcp_connection_runner_ = std::thread{[&]() { io_context_.run(); }};
-      this->initialized_ = true;
-    }
-  }
-
-  template <typename T>
-  boost::signals2::connection onResponseReceived(
-      void (T::*callback)(const std::string &), T *object) {
-    return this->getStateMachine()->createSignalConnection(onResponseReceived_,
-                                                           callback, object);
-  }
-
-  void makeRequest(const kHttpRequestMethod http_method,
-                   const std::string &path = "/") {
-    std::make_shared<http_session>(io_context_, callbackHandler)
-        ->run(server_name_, path, is_ssl_ ? "443" : "80",
-              static_cast<boost::beast::http::verb>(http_method), HTTP_VERSION);
-  }
-
- private:
-  const int HTTP_VERSION = 11;
-
-  bool initialized_;
-  bool is_ssl_;
-  std::string server_name_;
-  int timeout_;
-
-  std::thread tcp_connection_runner_;
-  boost::asio::io_context io_context_;
-  boost::asio::executor_work_guard<decltype(io_context_)::executor_type>
-      worker_guard_;
-
-  std::function<void(http_session::TResponse)> callbackHandler;
-
-  smacc2::SmaccSignal<void(const std::string &)> onResponseReceived_;
-};
-}  // namespace client_bases
-}  // namespace smacc2
diff --git a/smacc2_client_library/http_client/CMakeLists.txt b/smacc2_client_library/http_client/CMakeLists.txt
new file mode 100644
index 000000000..31b7fb596
--- /dev/null
+++ b/smacc2_client_library/http_client/CMakeLists.txt
@@ -0,0 +1,41 @@
+cmake_minimum_required(VERSION 3.5)
+project(http_client)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(smacc2 REQUIRED)
+
+include_directories(
+  include
+  ${smacc2_INCLUDE_DIRS}
+)
+
+file(GLOB_RECURSE SRC_FILES src *.cpp)
+
+add_library(${PROJECT_NAME}
+  ${SRC_FILES}
+)
+
+target_link_libraries(${PROJECT_NAME} ${smacc2_LIBRARIES})
+ament_target_dependencies(${PROJECT_NAME} smacc2)
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+install(
+  DIRECTORY include/
+  DESTINATION include)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/)
+
+ament_package()
diff --git a/smacc2_client_library/http_client/include/http_client/http_client.hpp b/smacc2_client_library/http_client/include/http_client/http_client.hpp
new file mode 100644
index 000000000..7c74fd089
--- /dev/null
+++ b/smacc2_client_library/http_client/include/http_client/http_client.hpp
@@ -0,0 +1,116 @@
+// Copyright 2023 RobosoftAI Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*****************************************************************************************************************
+ *
+ * 	 Authors: Jaycee Lock
+ *
+ ******************************************************************************************************************/
+
+#pragma once
+
+#include <boost/asio/executor_work_guard.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/http.hpp>
+#include <boost/beast/version.hpp>
+
+#include <smacc2/smacc_client.hpp>
+#include <smacc2/smacc.hpp>
+
+#include <iostream>
+#include <memory>
+#include <optional>
+#include <string>
+#include <thread>
+#include <unordered_map>
+
+namespace cl_http {
+class ClHttp : public smacc2::ISmaccClient {
+  class http_session : public std::enable_shared_from_this<http_session> {
+   public:
+    using TResponse =
+        const boost::beast::http::response<boost::beast::http::string_body> &;
+
+    // Objects are constructed with a strand to
+    // ensure that handlers do not execute concurrently.
+    http_session(boost::asio::io_context &ioc,
+                 const std::function<void(TResponse)> response);
+
+    // Start the asynchronous operation
+    void run(const std::string &host, const std::string &target,
+             const std::string &port,
+             const boost::beast::http::verb http_method, const int &version);
+
+    void on_resolve(boost::beast::error_code ec,
+                    boost::asio::ip::tcp::resolver::results_type results);
+
+   private:
+    void fail(boost::beast::error_code ec, char const *what);
+    void on_connect(
+        boost::beast::error_code ec,
+        boost::asio::ip::tcp::resolver::results_type::endpoint_type);
+    void on_write(boost::beast::error_code ec, std::size_t bytes_transferred);
+    void on_read(boost::beast::error_code ec, std::size_t bytes_transferred);
+
+    std::function<void(const boost::beast::http::response<
+                       boost::beast::http::string_body> &response)>
+        onResponse;
+
+    boost::asio::ip::tcp::resolver resolver_;
+    boost::beast::tcp_stream stream_;
+    boost::beast::flat_buffer buffer_;  // (Must persist between reads)
+    boost::beast::http::request<boost::beast::http::empty_body> req_;
+    boost::beast::http::response<boost::beast::http::string_body> res_;
+  };
+
+ public:
+  enum class kHttpRequestMethod {
+    GET = static_cast<int>(boost::beast::http::verb::get),
+    POST = static_cast<int>(boost::beast::http::verb::post),
+  };
+
+  template <typename T>
+  boost::signals2::connection onResponseReceived(
+      void (T::*callback)(const std::string &), T *object) {
+    return this->getStateMachine()->createSignalConnection(onResponseReceived_,
+                                                           callback, object);
+  }
+
+  explicit ClHttp(const std::string &server, const int &timeout = 1500);
+
+  virtual ~ClHttp();
+
+  void configure();
+  void makeRequest(const kHttpRequestMethod http_method,
+                   const std::string &path = "/");
+
+ private:
+  const int HTTP_VERSION = 11;
+
+  bool initialized_;
+  bool is_ssl_;
+  int timeout_;
+  std::string server_name_;
+
+  boost::asio::io_context io_context_;
+  boost::asio::executor_work_guard<decltype(io_context_)::executor_type>
+      worker_guard_;
+  std::thread tcp_connection_runner_;
+
+  std::function<void(http_session::TResponse)> callbackHandler;
+
+  smacc2::SmaccSignal<void(const std::string &)> onResponseReceived_;
+};
+}  // namespace cl_http
diff --git a/smacc2_client_library/http_client/package.xml b/smacc2_client_library/http_client/package.xml
new file mode 100644
index 000000000..b969cb72f
--- /dev/null
+++ b/smacc2_client_library/http_client/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>http_client</name>
+  <version>2.3.18</version>
+  <description>The http_client package</description>
+  <maintainer email="jaycee.lock@proton.me">Jaycee Lock</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>smacc2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/smacc2_client_library/http_client/src/http_client/http_client.cpp b/smacc2_client_library/http_client/src/http_client/http_client.cpp
new file mode 100644
index 000000000..e15b4cccf
--- /dev/null
+++ b/smacc2_client_library/http_client/src/http_client/http_client.cpp
@@ -0,0 +1,129 @@
+#include <http_client/http_client.hpp>
+
+namespace cl_http {
+
+///////////////////////////
+// ClHttp implementation //
+// ////////////////////////
+
+ClHttp::ClHttp(const std::string &server, const int &timeout)
+    : initialized_{false},
+      timeout_{timeout},
+      server_name_{server},
+      worker_guard_{boost::asio::make_work_guard(io_context_)} {
+  // User explicitly using http
+  is_ssl_ = server.substr(0, 5).compare("https") ? true : false;
+}
+
+ClHttp::~ClHttp() {
+  worker_guard_.reset();
+  tcp_connection_runner_.join();
+}
+
+void ClHttp::configure() {
+  if (!initialized_) {
+    tcp_connection_runner_ = std::thread{[&]() { io_context_.run(); }};
+    this->initialized_ = true;
+  }
+}
+
+void ClHttp::makeRequest(const kHttpRequestMethod http_method,
+                         const std::string &path) {
+  std::make_shared<http_session>(io_context_, callbackHandler)
+      ->run(server_name_, path, is_ssl_ ? "443" : "80",
+            static_cast<boost::beast::http::verb>(http_method), HTTP_VERSION);
+}
+
+/////////////////////////////////
+// http_session implementation //
+/////////////////////////////////
+
+ClHttp::http_session::http_session(
+    boost::asio::io_context &ioc, const std::function<void(TResponse)> response)
+    : onResponse{response},
+      resolver_(boost::asio::make_strand(ioc)),
+      stream_(boost::asio::make_strand(ioc)) {}
+
+void ClHttp::http_session::run(const std::string &host,
+                               const std::string &target,
+                               const std::string &port,
+                               const boost::beast::http::verb http_method,
+                               const int &version) {
+  // Set up an HTTP request
+  req_.version(version);
+  req_.method(http_method);
+  req_.target(target);
+  req_.set(boost::beast::http::field::host, host);
+  req_.set(boost::beast::http::field::user_agent, BOOST_BEAST_VERSION_STRING);
+
+  // Look up the domain name
+  resolver_.async_resolve(host.c_str(), port.c_str(),
+                          boost::beast::bind_front_handler(
+                              &http_session::on_resolve, shared_from_this()));
+}
+
+void ClHttp::http_session::on_resolve(
+    boost::beast::error_code ec,
+    boost::asio::ip::tcp::resolver::results_type results) {
+  if (ec) return fail(ec, "resolve");
+
+  // Set a timeout on the operation
+  stream_.expires_after(std::chrono::seconds(30));
+
+  // Make the connection on the IP address we get from a lookup
+  stream_.async_connect(
+      results, boost::beast::bind_front_handler(&http_session::on_connect,
+                                                shared_from_this()));
+}
+void ClHttp::http_session::fail(boost::beast::error_code ec, char const *what) {
+  std::cerr << what << ": " << ec.message() << "\n";
+  res_.result(boost::beast::http::status::bad_request);
+  res_.reason() = ec.message();
+  onResponse(res_);
+}
+
+void ClHttp::http_session::on_connect(
+    boost::beast::error_code ec,
+    boost::asio::ip::tcp::resolver::results_type::endpoint_type) {
+  if (ec) return fail(ec, "connect");
+
+  // Set a timeout on the operation
+  stream_.expires_after(std::chrono::seconds(30));
+
+  // Send the HTTP request to the remote host
+  boost::beast::http::async_write(
+      stream_, req_,
+      boost::beast::bind_front_handler(&http_session::on_write,
+                                       shared_from_this()));
+}
+
+void ClHttp::http_session::on_write(boost::beast::error_code ec,
+                                    std::size_t bytes_transferred) {
+  boost::ignore_unused(bytes_transferred);
+
+  if (ec) return fail(ec, "write");
+
+  // Receive the HTTP response
+  boost::beast::http::async_read(
+      stream_, buffer_, res_,
+      boost::beast::bind_front_handler(&http_session::on_read,
+                                       shared_from_this()));
+}
+
+void ClHttp::http_session::on_read(boost::beast::error_code ec,
+                                   std::size_t bytes_transferred) {
+  boost::ignore_unused(bytes_transferred);
+
+  if (ec) return fail(ec, "read");
+
+  // Gracefully close the socket
+  stream_.socket().shutdown(boost::asio::ip::tcp::socket::shutdown_both, ec);
+
+  // not_connected happens sometimes so don't bother reporting it.
+  if (ec && ec != boost::beast::errc::not_connected)
+    return fail(ec, "shutdown");
+
+  // If we get here then the connection is closed gracefully
+  onResponse(res_);
+}
+}  // namespace cl_http
diff --git a/smacc2_sm_reference_library/sm_atomic_http/CMakeLists.txt b/smacc2_sm_reference_library/sm_atomic_http/CMakeLists.txt
index 5b7210e72..69e912187 100644
--- a/smacc2_sm_reference_library/sm_atomic_http/CMakeLists.txt
+++ b/smacc2_sm_reference_library/sm_atomic_http/CMakeLists.txt
@@ -14,11 +14,14 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(smacc2 REQUIRED)
 find_package(ros_timer_client REQUIRED)
+find_package(http_client REQUIRED)
 find_package(Boost COMPONENTS thread REQUIRED)
 
 include_directories(include
                     ${smacc2_INCLUDE_DIRS}
-                    ${ros_timer_client_INCLUDE_DIRS})
+                    ${ros_timer_client_INCLUDE_DIRS}
+                    ${http_client_INCLUDE_DIRS}
+)
 
 add_executable(${PROJECT_NAME}_node
                 src/sm_atomic_http/sm_atomic_http_node.cpp)
@@ -26,6 +29,7 @@ add_executable(${PROJECT_NAME}_node
 target_link_libraries(${PROJECT_NAME}_node
   ${smacc2_LIBRARIES}
   ${ros_timer_client_LIBRARIES}
+  ${http_client_LIBRARIES}
   ${Boost_LIBRARIES}
 )
 
diff --git a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp
index efc2e33eb..4c506fad9 100644
--- a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp
+++ b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/clients/client_behaviors/cb_http_request.hpp
@@ -1,8 +1,10 @@
 #pragma once
 
-#include <smacc2/client_bases/smacc_http_client.hpp>
+#include <http_client/http_client.hpp>
 #include <smacc2/smacc.hpp>
 
+#include <cstring>
+
 namespace sm_atomic_http {
 
 template <typename TSource, typename TOrthogonal>
@@ -29,13 +31,13 @@ class CbHttpRequest : public smacc2::SmaccClientBehavior {
     RCLCPP_INFO(getLogger(), "On Entry!");
 
     cl_http_->makeRequest(
-        smacc2::client_bases::SmaccHttpClient::kHttpRequestMethod::GET);
+        cl_http::ClHttp::kHttpRequestMethod::GET);
   }
 
   void onExit() override { RCLCPP_INFO(getLogger(), "Cb on exit!"); }
 
  private:
-  smacc2::client_bases::SmaccHttpClient* cl_http_;
+  cl_http::ClHttp* cl_http_;
 
   std::function<void()> triggerTranstition;
 };
diff --git a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/orthogonals/or_http.hpp b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/orthogonals/or_http.hpp
index ab3a4b03a..2f43da5fe 100644
--- a/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/orthogonals/or_http.hpp
+++ b/smacc2_sm_reference_library/sm_atomic_http/include/sm_atomic_http/orthogonals/or_http.hpp
@@ -12,7 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <smacc2/client_bases/smacc_http_client.hpp>
+#pragma once
+
+#include <http_client/http_client.hpp>
 #include <smacc2/smacc.hpp>
 
 namespace sm_atomic_http {
@@ -20,7 +22,7 @@ class OrHttp : public smacc2::Orthogonal<OrHttp> {
  public:
   void onInitialize() override {
     auto http_client =
-        this->createClient<smacc2::client_bases::SmaccHttpClient>(
+        this->createClient<cl_http::ClHttp>(
             "https://www.google.com");
   }
 };
diff --git a/smacc2_sm_reference_library/sm_atomic_http/package.xml b/smacc2_sm_reference_library/sm_atomic_http/package.xml
index 5c5a73a24..d4824fab8 100644
--- a/smacc2_sm_reference_library/sm_atomic_http/package.xml
+++ b/smacc2_sm_reference_library/sm_atomic_http/package.xml
@@ -10,6 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>ros_timer_client</depend>
+  <depend>http_client</depend>
   <depend>smacc2</depend>
 
   <exec_depend>xterm</exec_depend>