diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index 07e6c20b12805fdd1d25bff8b5ad1e68d15c5cc6..fc9e39b54c1c7a65640aa63c8dd8784a1ac6f6cc 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -671,7 +671,7 @@ void *IriBaseBTClient<ConfigClass>::mainThread(void *param)
     {
       try                        
       {
-        iriNode->status=iriNode->tree.root_node->executeTick();
+        iriNode->status=iriNode->tree.tickRoot();
         ROS_DEBUG_STREAM("Tree status: " << iriNode->status);          
       } 
       catch(BT::LogicError &e)