diff --git a/include/publisher_trajectory.h b/include/publisher_trajectory.h
index 2d855cbb42558dd6265b50a9ebd70080a623d160..eddfa6073ba7bbdff9f92f34f395173e10311aaa 100644
--- a/include/publisher_trajectory.h
+++ b/include/publisher_trajectory.h
@@ -50,8 +50,6 @@ class PublisherTrajectory: public Publisher
         
         std::string frame_id_;
 
-        ros::Publisher pub_path_;
-
     public:
         PublisherTrajectory(const std::string& _unique_name,
                       const ParamsServer& _server,
diff --git a/src/publisher_trajectory.cpp b/src/publisher_trajectory.cpp
index 2e460865deae086cc7bdef8db6b6ad449c21c01a..6fa357685b30859115a70d7bbb1c213402e27e1e 100644
--- a/src/publisher_trajectory.cpp
+++ b/src/publisher_trajectory.cpp
@@ -52,12 +52,12 @@ void PublisherTrajectory::initialize(ros::NodeHandle& nh, const std::string& top
 
     // PATH
     path_msg_.header.frame_id = frame_id_;
-    pub_path_ = nh.advertise<nav_msgs::Path>(topic, 1);
+    publisher_ = nh.advertise<nav_msgs::Path>(topic, 1);
 }
 
 void PublisherTrajectory::publishDerived()
 {
-    if (pub_path_.getNumSubscribers() != 0 )
+    if (publisher_.getNumSubscribers() != 0 )
         publishTrajectory();
 }
 
@@ -100,7 +100,7 @@ void PublisherTrajectory::publishTrajectory()
         }
 
     //Publish path
-    pub_path_.publish(path_msg_);
+    publisher_.publish(path_msg_);
 
     //clear msg
     path_msg_.poses.clear();