diff --git a/capabilities/src/execute_task_solution_capability.cpp b/capabilities/src/execute_task_solution_capability.cpp
index 7cde060c6..f20672a4b 100644
--- a/capabilities/src/execute_task_solution_capability.cpp
+++ b/capabilities/src/execute_task_solution_capability.cpp
@@ -168,9 +168,9 @@ bool ExecuteTaskSolutionCapability::constructMotionPlan(const moveit_task_constr
 				RCLCPP_DEBUG(LOGGER, "Using JointModelGroup '%s' for execution", group->getName().c_str());
 			}
 		}
-		exec_traj.trajectory_ = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
-		exec_traj.trajectory_->setRobotTrajectoryMsg(state, sub_traj.trajectory);
-		exec_traj.controller_names_ = sub_traj.execution_info.controller_names;
+		exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
+		exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
+		exec_traj.controller_name = sub_traj.execution_info.controller_names;
 
 		/* TODO add action feedback and markers */
 		exec_traj.effect_on_success = [this, sub_traj,