diff --git a/include/node.h b/include/node.h
index 97d5888e1978188b1189dbc290aa32d3e0c1adea..aa55635e3c515bf6f99205699f57fb056283ab5d 100644
--- a/include/node.h
+++ b/include/node.h
@@ -4,6 +4,7 @@
 #include <core/common/node_base.h>
 #include <core/common/wolf.h>
 #include <core/capture/capture_odom_2d.h>
+#include <core/ceres_wrapper/solver_ceres.h>
 #include <core/sensor/sensor_odom_2d.h>
 #include <core/processor/processor_odom_2d.h>
 #include <core/problem/problem.h>
@@ -15,12 +16,6 @@
 /**************************
  *     CERES includes     *
  **************************/
-#include "core/ceres_wrapper/ceres_manager.h"
-//#include "glog/logging.h"
-
-/**************************
- *      ROS includes      *
- **************************/
 #include <ros/ros.h>
 #include <ros/package.h>
 #include <nav_msgs/Odometry.h>
@@ -70,7 +65,7 @@ class WolfRosNode
 
     protected:
         // solver
-        SolverManagerPtr solver_manager_ptr_;
+        SolverManagerPtr solver_;
         SolverManager::ReportVerbosity solver_verbose_;
 
         // transforms
diff --git a/src/node.cpp b/src/node.cpp
index c7f4da49a57d855c124d696d73ab6004defc26d2..dfd0557dba2b923fbc85dc7a497fb6df94b608a7 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -38,7 +38,7 @@ WolfRosNode::WolfRosNode()
 
     // SOLVER
     ROS_INFO("Creating solver...");
-    solver_manager_ptr_ = std::static_pointer_cast<CeresManager>(FactorySolver::create("CeresManager", problem_ptr_, server));
+    solver_ = std::static_pointer_cast<SolverCeres>(FactorySolver::create("SolverCeres", problem_ptr_, server));
     int solver_verbose_int;
     solver_period_ = server.getParam<double>("solver/period");
     solver_verbose_int = server.getParam<int>("solver/verbose");
@@ -93,7 +93,7 @@ void WolfRosNode::solve()
     if (solver_verbose_ != SolverManager::ReportVerbosity::QUIET)
         ROS_INFO("================ solve ==================");
 
-    std::string report = solver_manager_ptr_->solve(solver_verbose_);
+    std::string report = solver_->solve(solver_verbose_);
     if (!report.empty())
         std::cout << report << std::endl;
 }