diff --git a/bringup/launch/unity_ros.launch.py b/bringup/launch/unity_ros.launch.py
index 958e4ff3..5111b0c2 100755
--- a/bringup/launch/unity_ros.launch.py
+++ b/bringup/launch/unity_ros.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
 
     _package_name = 'unity_ros'
 
-    start_unity_ros_init_cmd = Node(
+    start_unity_ros_cmd = Node(
         package=_package_name,
         executable=_package_name,
         name=_name,
@@ -49,6 +49,6 @@ def generate_launch_description():
     ld.add_action(declare_launch_argument_nn)
 
     # Add the actions to launch all of the navigation nodes
-    ld.add_action(start_unity_ros_init_cmd)
+    ld.add_action(start_unity_ros_cmd)
 
     return ld
diff --git a/unity_ros/CMakeLists.txt b/unity_ros/CMakeLists.txt
index eadae708..671890d6 100644
--- a/unity_ros/CMakeLists.txt
+++ b/unity_ros/CMakeLists.txt
@@ -35,7 +35,7 @@ include_directories(include)
 
 add_executable(${PROJECT_NAME}
   src/main.cpp
-  src/unity_ros_init.cpp)
+  src/unity_ros.cpp)
 
 ament_target_dependencies(${PROJECT_NAME}
   ${dependencies}
diff --git a/unity_ros/include/unity_ros/unity_ros_init.hpp b/unity_ros/include/unity_ros/unity_ros.hpp
similarity index 95%
rename from unity_ros/include/unity_ros/unity_ros_init.hpp
rename to unity_ros/include/unity_ros/unity_ros.hpp
index eb6d03fd..9c23fa86 100644
--- a/unity_ros/include/unity_ros/unity_ros_init.hpp
+++ b/unity_ros/include/unity_ros/unity_ros.hpp
@@ -1,5 +1,5 @@
 /**
- *  @file   unity_ros_init.hpp
+ *  @file   unity_ros.hpp
  *  @date   2020-04-08
  *  @author Hyunseok Yang
  *  @brief
@@ -14,8 +14,8 @@
  *      SPDX-License-Identifier: MIT
  */
 
-#ifndef _UnityRosInit_H_
-#define _UnityRosInit_H_
+#ifndef _UnityRos_HPP_
+#define _UnityRos_HPP_
 
 #include <sim_bridge/sim_bridge.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/unity_ros/src/main.cpp b/unity_ros/src/main.cpp
index ca7ca07e..4b4ef2ff 100644
--- a/unity_ros/src/main.cpp
+++ b/unity_ros/src/main.cpp
@@ -12,7 +12,7 @@
  *
  *      SPDX-License-Identifier: MIT
  */
-#include "unity_ros/unity_ros_init.hpp"
+#include "unity_ros/unity_ros.hpp"
 
 using namespace std::chrono_literals;
 
diff --git a/unity_ros/src/unity_ros_init.cpp b/unity_ros/src/unity_ros.cpp
similarity index 97%
rename from unity_ros/src/unity_ros_init.cpp
rename to unity_ros/src/unity_ros.cpp
index 9d047870..099c0095 100644
--- a/unity_ros/src/unity_ros_init.cpp
+++ b/unity_ros/src/unity_ros.cpp
@@ -1,5 +1,5 @@
 /**
- *  @file   unity_ros_init.cpp
+ *  @file   unity_ros.cpp
  *  @date   2020-04-08
  *  @author Hyunseok Yang
  *  @brief
@@ -14,7 +14,7 @@
  *      SPDX-License-Identifier: MIT
  */
 
-#include "unity_ros/unity_ros_init.hpp"
+#include "unity_ros/unity_ros.hpp"
 #include <protobuf/param.pb.h>
 #include <protobuf/any.pb.h>
 #include <protobuf/time.pb.h>
@@ -26,7 +26,7 @@ using namespace UnityRos;
 using namespace gazebo;
 
 UnityRosInit::UnityRosInit()
-  : Node("unity_ros_init",
+  : Node("unity_ros",
       rclcpp::NodeOptions()
         .parameter_overrides(vector<rclcpp::Parameter>{rclcpp::Parameter("use_sim_time", true)})
         .allow_undeclared_parameters(true)