diff --git a/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp b/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp
index 2d4eed0c7..09d86a7f3 100644
--- a/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp
+++ b/control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp
@@ -37,8 +37,8 @@ class SimplePurePursuitNode : public rclcpp::Node
 
 private:
   // subscribers
-  autoware_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{this, "input/odometry"};
-  autoware_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{this, "input/odometry"};
+  autoware_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{this, "~/input/odometry"};
+  autoware_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{this, "~/input/trajectory"};
 
   // publishers
   rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_command_;