diff --git a/include/iri_opendrive_global_planner/opendrive_planner.h b/include/iri_opendrive_global_planner/opendrive_planner.h
index 52f5721e9895ad198f1d88becd32532bdcfbe8c2..7c0458552d492f1d92b65cab247716a05ca8fb7f 100644
--- a/include/iri_opendrive_global_planner/opendrive_planner.h
+++ b/include/iri_opendrive_global_planner/opendrive_planner.h
@@ -46,7 +46,7 @@
 #include <dynamic_reconfigure/server.h>
 #include <iri_opendrive_global_planner/OpendriveGlobalPlannerConfig.h>
 
-#include "road_map.h"
+#include "opendrive_road_map.h"
 
 namespace iri_opendrive_global_planner {
 
@@ -118,7 +118,7 @@ class OpendriveGlobalPlanner : public nav_core::BaseGlobalPlanner
     ros::Publisher plan_pub_;
     bool initialized_;
 
-    CRoadMap roadmap;        
+    COpendriveRoadMap roadmap;        
     double angle_tol;
     double dist_tol;
     bool multi_hyp;
diff --git a/src/opendrive_planner.cpp b/src/opendrive_planner.cpp
index 620432447b4d75a4cb3759fb256548bf8dec6ada..01206358b9ec19b158c552b11ffe81d554c0b36a 100644
--- a/src/opendrive_planner.cpp
+++ b/src/opendrive_planner.cpp
@@ -248,7 +248,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
     for(unsigned int i=0;i<start_candidates.size();i++)
     {
       std::cout << i << ". x: " << start_candidates[i].pose.x << ", y:" << start_candidates[i].pose.y << ", heading: " << start_candidates[i].pose.heading << std::endl;
-      std::cout << "   road map node: " << start_candidates[i].node_index << " child: " << start_candidates[i].child_index << std::endl;
+      //std::cout << "   road map node: " << start_candidates[i].node_index << " child: " << start_candidates[i].child_index << std::endl;
       std::cout << "   distance from desired pose: " << start_candidates[i].dist << std::endl;
     }
     yaw=tf2::getYaw(goal.pose.orientation);
@@ -258,7 +258,7 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
     for(unsigned int i=0;i<end_candidates.size();i++)
     {
       std::cout << i << ". x: " << end_candidates[i].pose.x << ", y:" << end_candidates[i].pose.y << ", heading: " << end_candidates[i].pose.heading << std::endl;
-      std::cout << "   road map node: " << end_candidates[i].node_index << " child: " << end_candidates[i].child_index << std::endl;
+      //std::cout << "   road map node: " << end_candidates[i].node_index << " child: " << end_candidates[i].child_index << std::endl;
       std::cout << "   distance from desired pose: " << end_candidates[i].dist << std::endl;
     }
     this->roadmap.find_shortest_path(this->multi_hyp);