diff --git a/include/subscriber_imu.h b/include/subscriber_imu.h
index 7168a12f8e7a20c09c65ac7699125b06e1f2d4d9..04046d87048717485714690c8f5e038187a0c437 100644
--- a/include/subscriber_imu.h
+++ b/include/subscriber_imu.h
@@ -44,7 +44,7 @@ class SubscriberImu : public Subscriber
                       const SensorBasePtr _sensor_ptr);
         WOLF_SUBSCRIBER_CREATE(SubscriberImu);
 
-        virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const sensor_msgs::Imu::ConstPtr& msg);
 };
diff --git a/include/subscriber_imu_enablable.h b/include/subscriber_imu_enablable.h
index bfc6b3ec1680578a6519e20303986d3041740e5a..001fee91735d1405c72b01fca74368a8f6977c81 100644
--- a/include/subscriber_imu_enablable.h
+++ b/include/subscriber_imu_enablable.h
@@ -47,7 +47,7 @@ class SubscriberImuEnablable : public SubscriberImu
                                const SensorBasePtr _sensor_ptr);
         WOLF_SUBSCRIBER_CREATE(SubscriberImuEnablable);
 
-        virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const sensor_msgs::Imu::ConstPtr& msg);
 
diff --git a/src/subscriber_imu.cpp b/src/subscriber_imu.cpp
index e18a24f43fc00e1333a1f293402b7a88f7ed79dc..b190b1ca312f7891250faf1aa408dd858a802675 100644
--- a/src/subscriber_imu.cpp
+++ b/src/subscriber_imu.cpp
@@ -13,7 +13,7 @@ SubscriberImu::SubscriberImu(const std::string& _unique_name,
     flip_x_axis_ = _server.getParam<bool>(prefix_ + "/flip_x_axis");
 }
 
-void SubscriberImu::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberImu::initialize(ros::NodeHandle& nh, const std::string& topic)
 {
     sub_     = nh.subscribe(topic, 1, &SubscriberImu::callback, this);
 }
diff --git a/src/subscriber_imu_enablable.cpp b/src/subscriber_imu_enablable.cpp
index 7e686e4c702004249f9179d3b06d44b42c26cef4..69c3bacf80cab7a22bdab5c2f54abab8b0f5ed5a 100644
--- a/src/subscriber_imu_enablable.cpp
+++ b/src/subscriber_imu_enablable.cpp
@@ -13,7 +13,7 @@ SubscriberImuEnablable::SubscriberImuEnablable(const std::string& _unique_name,
     topic_enable_ = _server.getParam<std::string>(prefix_ + "/topic_enable");
 }
 
-void SubscriberImuEnablable::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberImuEnablable::initialize(ros::NodeHandle& nh, const std::string& topic)
 {
     sub_        = nh.subscribe(topic, 1, &SubscriberImuEnablable::callback, this);
     enable_sub_ = nh.subscribe(topic_enable_, 1, &SubscriberImuEnablable::enableCallback, this);