diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
index a16304c..e5eecba 100644
--- a/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
+++ b/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
@@ -23,12 +23,12 @@ IMUPositionApproximator::IMUPositionApproximator()
         x_, y_, z_, theta_);
 
 
-    imu_subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
+    imu_subscriber_ = this->create_subscription<sensor_msgs::msg::Imu>(
         imu_topic_, 10,
         std::bind(&IMUPositionApproximator::imu_callback, this, std::placeholders::_1)
     );
 
-    position_reset_subscription_ = this->create_subscription<geometry_msgs::msg::Pose2D>(
+    position_reset_subscriber_ = this->create_subscription<geometry_msgs::msg::Pose2D>(
         "position_reset", 10,
         std::bind(&IMUPositionApproximator::position_reset_callback, this, std::placeholders::_1)
     );
diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.hpp b/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.hpp
index d4f207d..26ae5b9 100644
--- a/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.hpp
+++ b/src/g2_2025_odometry_pkg/src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.hpp
@@ -18,8 +18,8 @@ public:
     IMUPositionApproximator();
 
 private:
-    rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription_;
-    rclcpp::Subscription<geometry_msgs::msg::Pose2D>::SharedPtr position_reset_subscription_;
+    rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscriber_;
+    rclcpp::Subscription<geometry_msgs::msg::Pose2D>::SharedPtr position_reset_subscriber_;
     rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr position_publisher_;
     rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr velocity_publisher_;