diff --git a/cfg/fiss_planner.cfg b/cfg/fiss_planner.cfg
index 9d88b8a..c37ca69 100755
--- a/cfg/fiss_planner.cfg
+++ b/cfg/fiss_planner.cfg
@@ -55,4 +55,4 @@ gen.add("track_error_gain", double_t, 1, "Default: 1.0", 1.0, 0, 1.0)
 gen.add("traj_max_size", int_t, 0, "Default: 10", 10, 5, 30)
 gen.add("traj_min_size", int_t, 0, "Default: 5", 5, 5, 20)
 
-exit(gen.generate(PACKAGE, "fiss_planner", "fiss_planner_"))
+exit(gen.generate(PACKAGE, "fiss_planner", "fiss_planner"))
diff --git a/include/fiss_planner/fiss_planner_node.h b/include/fiss_planner/fiss_planner_node.h
index 6f2546d..b9ca6c0 100644
--- a/include/fiss_planner/fiss_planner_node.h
+++ b/include/fiss_planner/fiss_planner_node.h
@@ -30,7 +30,7 @@
 #include <autoware_msgs/DetectedObjectArray.h>
 
 #include <dynamic_reconfigure/server.h>
-#include <fiss_planner/fiss_planner_Config.h>
+#include <fiss_planner/fiss_plannerConfig.h>
 
 #include "fiss_planner/pid.hpp"
 #include "fiss_planner/visualization.hpp"
@@ -103,8 +103,8 @@ class FissPlannerNode
   ros::NodeHandle nh;
   tf2_ros::Buffer tf_buffer;
   tf2_ros::TransformListener tf_listener;
-  dynamic_reconfigure::Server<fiss_planner::fiss_planner_Config> server;
-  dynamic_reconfigure::Server<fiss_planner::fiss_planner_Config>::CallbackType f;
+  dynamic_reconfigure::Server<fiss_planner::fiss_plannerConfig> server;
+  dynamic_reconfigure::Server<fiss_planner::fiss_plannerConfig>::CallbackType f;
 
   // ###################################### Private Functions ######################################
 
diff --git a/src/fiss_planner_node.cpp b/src/fiss_planner_node.cpp
index 2cf68d6..408137a 100755
--- a/src/fiss_planner_node.cpp
+++ b/src/fiss_planner_node.cpp
@@ -46,7 +46,7 @@ bool USE_HEURISTIC;
 bool SETTINGS_UPDATED = false;
 
 // Dynamic parameter server callback function
-void dynamicParamCallback(fiss_planner::fiss_planner_Config& config, uint32_t level)
+void dynamicParamCallback(fiss_planner::fiss_plannerConfig& config, uint32_t level)
 {
   // General Settings
   CHECK_COLLISION = config.check_collision;