diff --git a/src/ros2aria/src/ros2aria.cpp b/src/ros2aria/src/ros2aria.cpp
index 0baf3a5..3cc0e5d 100644
--- a/src/ros2aria/src/ros2aria.cpp
+++ b/src/ros2aria/src/ros2aria.cpp
@@ -14,18 +14,18 @@ using std::placeholders::_1;
 using std::placeholders::_2;
 using namespace std::chrono_literals;
 
-class MinimalSubscriber : public rclcpp::Node
+class Ros2Aria : public rclcpp::Node
 {
 public:
-  MinimalSubscriber()
+  Ros2Aria()
       : Node("minimal_subscriber")
   {
     this->robot = std::make_shared<RAIIBot>(this, "/dev/ttyS0");
 
     RCLCPP_INFO(this->get_logger(), "starting subscribers and services");
     cmd_vel_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(
-        "cmd_vel", 10, std::bind(&MinimalSubscriber::cmd_vel_callback, this, _1));
-    stop_service_ = this->create_service<std_srvs::srv::Empty>("stop", std::bind(&MinimalSubscriber::stop, this, _1, _2));
+        "cmd_vel", 10, std::bind(&Ros2Aria::cmd_vel_callback, this, _1));
+    stop_service_ = this->create_service<std_srvs::srv::Empty>("stop", std::bind(&Ros2Aria::stop, this, _1, _2));
   }
 
 private:
@@ -80,7 +80,7 @@ int main(int argc, char **argv)
 
   // return 0;
   rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::spin(std::make_shared<Ros2Aria>());
   rclcpp::shutdown();
 
   return 0;