diff --git a/rosserial_rp2040/src/ros_lib/RP2040_Hardware_USB.h b/rosserial_rp2040/src/ros_lib/RP2040_Hardware_USB.h
index 4b9059856..35ef8d0b3 100644
--- a/rosserial_rp2040/src/ros_lib/RP2040_Hardware_USB.h
+++ b/rosserial_rp2040/src/ros_lib/RP2040_Hardware_USB.h
@@ -39,10 +39,10 @@
 #ifndef ROS_RP2040_Hardware_USB_H_
 #define ROS_RP2040_Hardware_USB_H_
 
-class RP2040_Hardware
+class RP2040_Hardware_USB
 {
 public:
-  RP2040_Hardware() {}
+  RP2040_Hardware_USB() {}
 
   // any initialization code necessary to use the serial port
   void init() 
diff --git a/rosserial_rp2040/src/ros_lib/ros.h b/rosserial_rp2040/src/ros_lib/ros.h
index 865e13e28..c5a21b164 100644
--- a/rosserial_rp2040/src/ros_lib/ros.h
+++ b/rosserial_rp2040/src/ros_lib/ros.h
@@ -6,16 +6,16 @@
 #define _ROS_H_
 
 #include "ros/node_handle.h"
-
-#ifdef USE_USBCON
 #include "RP2040_Hardware.h"
-#else
 #include "RP2040_Hardware_USB.h"
-#endif
 
 namespace ros
 {
+  #ifdef USE_USBCON
+  typedef ros::NodeHandle_<RP2040_Hardware_USB> NodeHandle;
+  #else
   typedef ros::NodeHandle_<RP2040_Hardware> NodeHandle;
+  #endif
 }
 
-#endif
+#endif
\ No newline at end of file