diff --git a/src/ros2aria/src/state.cpp b/src/ros2aria/src/state.cpp
index 4af80d1..a94cf2c 100644
--- a/src/ros2aria/src/state.cpp
+++ b/src/ros2aria/src/state.cpp
@@ -14,7 +14,7 @@ void Ros2Aria::publishState()
     }
 
 
-    if (this->robot_info_pub_->get_subscription_count() > 0)
+    if (robot_info_pub_->get_subscription_count() > 0)
     {
         ros2aria_msgs::msg::RobotInfoMsg robot_info_msg;
 
@@ -28,6 +28,6 @@ void Ros2Aria::publishState()
         robot_info_msg.clutch.data = r->areMotorsEnabled();
         robot_info_msg.obstacle_detected.data = obstacle_too_close;
 
-        this->robot_info_pub_->publish(robot_info_msg);
+        robot_info_pub_->publish(robot_info_msg);
     }
 }
\ No newline at end of file