diff --git a/src/lidar_obstacle_detector_alg_node.cpp b/src/lidar_obstacle_detector_alg_node.cpp
index 11bb545934ef8a7f03ab20583f10a44c111ed77b..794195baaf9158f7db481219ec3ab4a50d6c11d2 100644
--- a/src/lidar_obstacle_detector_alg_node.cpp
+++ b/src/lidar_obstacle_detector_alg_node.cpp
@@ -12,12 +12,12 @@ LidarObstacleDetectorAlgNode::LidarObstacleDetectorAlgNode(const ros::NodeHandle
   //this->loop_rate_ = 2;//in [Hz]
 
   // [init publishers]
-  this->obstacles_img_publisher_ = this->private_node_handle_.advertise<sensor_msgs::Image>("obstacles_img/image_raw", 1);
-  this->scan_clearing_out_publisher_ = this->private_node_handle_.advertise<sensor_msgs::LaserScan>("scan_clearing_out", 1);
-  this->scan_out_publisher_ = this->private_node_handle_.advertise<sensor_msgs::LaserScan>("scan_out", 1);
+  this->obstacles_img_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Image>("obstacles_img/image_raw", 1);
+  this->scan_clearing_out_publisher_ = this->public_node_handle_.advertise<sensor_msgs::LaserScan>("scan_clearing_out", 1);
+  this->scan_out_publisher_ = this->public_node_handle_.advertise<sensor_msgs::LaserScan>("scan_out", 1);
   
   // [init subscribers]
-  this->pointcloud_in_subscriber_ = this->private_node_handle_.subscribe("pointcloud_in", 1, &LidarObstacleDetectorAlgNode::pointcloud_in_callback, this);
+  this->pointcloud_in_subscriber_ = this->public_node_handle_.subscribe("pointcloud_in", 1, &LidarObstacleDetectorAlgNode::pointcloud_in_callback, this);
   pthread_mutex_init(&this->pointcloud_in_mutex_,NULL);
 
   this->scan_clearing_out_LaserScan_msg_.angle_min=-3.14159;