diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
index 41944aa5b91..56bf8c74f16 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_hybrid.hpp
@@ -463,7 +463,7 @@ class NodeHybrid
    * \brief Sets the goal mode for the current search
    * \param goal_heading_mode The goal heading mode to use
    */
-  static void setGoalHeadingMode(const GoalHeadingMode & goal_heading_mode);
+  static void setGoalHeadingMode(const GoalHeadingMode & current_goal_heading_mode);
 
   NodeHybrid * parent;
   Coordinates pose;
@@ -482,7 +482,7 @@ class NodeHybrid
   // Dubin / Reeds-Shepp lookup and size for dereferencing
   static LookupTable dist_heuristic_lookup_table;
   static float size_lookup;
-  static GoalHeadingMode current_goal_heading_mode;
+  static GoalHeadingMode goal_heading_mode;
 
 private:
   float _cell_cost;
diff --git a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
index 5e659df14ef..2ffc213087f 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/node_lattice.hpp
@@ -419,7 +419,7 @@ class NodeLattice
    * \brief Sets the goal mode for the current search
    * \param goal_heading_mode The goal heading mode to use
    */
-  static void setGoalHeadingMode(const GoalHeadingMode & goal_heading_mode);
+  static void setGoalHeadingMode(const GoalHeadingMode & current_goal_heading_mode);
 
   NodeLattice * parent;
   Coordinates pose;
@@ -427,7 +427,7 @@ class NodeLattice
   // Dubin / Reeds-Shepp lookup and size for dereferencing
   static LookupTable dist_heuristic_lookup_table;
   static float size_lookup;
-  static GoalHeadingMode current_goal_heading_mode;
+  static GoalHeadingMode goal_heading_mode;
 
 private:
   float _cell_cost;
diff --git a/nav2_smac_planner/src/node_hybrid.cpp b/nav2_smac_planner/src/node_hybrid.cpp
index 4650514efdf..5c597c8c754 100644
--- a/nav2_smac_planner/src/node_hybrid.cpp
+++ b/nav2_smac_planner/src/node_hybrid.cpp
@@ -46,7 +46,7 @@ std::shared_ptr<nav2_costmap_2d::InflationLayer> NodeHybrid::inflation_layer = n
 
 CostmapDownsampler NodeHybrid::downsampler;
 ObstacleHeuristicQueue NodeHybrid::obstacle_heuristic_queue;
-GoalHeadingMode NodeHybrid::current_goal_heading_mode;
+GoalHeadingMode NodeHybrid::goal_heading_mode;
 
 // Each of these tables are the projected motion models through
 // time and space applied to the search on the current node in
@@ -441,7 +441,7 @@ float NodeHybrid::getHeuristicCost(
 {
   const float obstacle_heuristic =
     getObstacleHeuristic(node_coords, goal_coords, motion_table.cost_penalty);
-  if (current_goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
+  if (goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
     return obstacle_heuristic;
   }
   const float dist_heuristic = getDistanceHeuristic(node_coords, goal_coords, obstacle_heuristic);
@@ -784,7 +784,7 @@ void NodeHybrid::precomputeDistanceHeuristic(
   const unsigned int & dim_3_size,
   const SearchInfo & search_info)
 {
-  if (current_goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
+  if (goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
     // For all direction goal heading, we only consider the obstacle heuristic
     // it does not make sense to precompute the distance heuristic to save computation
     return;
@@ -826,7 +826,7 @@ void NodeHybrid::precomputeDistanceHeuristic(
         from[2] = heading * angular_bin_size;
         motion_heuristic = motion_table.state_space->distance(from(), to());
         // we need to check for bidirectional goal heading and take the minimum
-        if (current_goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
+        if (goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
           unsigned int heading_180_offset = (heading + (dim_3_size_int / 2)) % dim_3_size_int;
           from[2] = heading_180_offset * angular_bin_size;
           float motion_heuristic_180 = motion_table.state_space->distance(from(), to());
@@ -899,8 +899,8 @@ bool NodeHybrid::backtracePath(CoordinateVector & path)
   return true;
 }
 
-void NodeHybrid::setGoalHeadingMode(const GoalHeadingMode & goal_heading_mode)
+void NodeHybrid::setGoalHeadingMode(const GoalHeadingMode & current_goal_heading_mode)
 {
-  current_goal_heading_mode = goal_heading_mode;
+  goal_heading_mode = current_goal_heading_mode;
 }
 }  // namespace nav2_smac_planner
diff --git a/nav2_smac_planner/src/node_lattice.cpp b/nav2_smac_planner/src/node_lattice.cpp
index b881cbf484c..90ef8301464 100644
--- a/nav2_smac_planner/src/node_lattice.cpp
+++ b/nav2_smac_planner/src/node_lattice.cpp
@@ -38,7 +38,7 @@ namespace nav2_smac_planner
 LatticeMotionTable NodeLattice::motion_table;
 float NodeLattice::size_lookup = 25;
 LookupTable NodeLattice::dist_heuristic_lookup_table;
-GoalHeadingMode NodeLattice::current_goal_heading_mode;
+GoalHeadingMode NodeLattice::goal_heading_mode;
 
 // Each of these tables are the projected motion models through
 // time and space applied to the search on the current node in
@@ -333,7 +333,7 @@ float NodeLattice::getHeuristicCost(
   // get obstacle heuristic value
   const float obstacle_heuristic = getObstacleHeuristic(
     node_coords, goal_coords, motion_table.cost_penalty);
-  if (current_goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
+  if (goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
     return obstacle_heuristic;
   }
   const float distance_heuristic =
@@ -430,7 +430,7 @@ void NodeLattice::precomputeDistanceHeuristic(
   const unsigned int & dim_3_size,
   const SearchInfo & search_info)
 {
-  if (current_goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
+  if (goal_heading_mode == GoalHeadingMode::ALL_DIRECTION) {
     // For all direction goal heading, we only consider the obstacle heuristic
     // it does not make sense to precompute the distance heuristic to save computation
     return;
@@ -471,7 +471,7 @@ void NodeLattice::precomputeDistanceHeuristic(
         from[2] = motion_table.getAngleFromBin(heading);
         motion_heuristic = motion_table.state_space->distance(from(), to());
         // we need to check for bidirectional goal heading and take the minimum
-        if (current_goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
+        if (goal_heading_mode == GoalHeadingMode::BIDIRECTIONAL) {
           unsigned int heading_180_offset = (heading + (dim_3_size_int / 2)) % dim_3_size_int;
           from[2] = motion_table.getAngleFromBin(heading_180_offset);
           float motion_heuristic_180 = motion_table.state_space->distance(from(), to());
@@ -609,9 +609,9 @@ void NodeLattice::addNodeToPath(
   }
 }
 
-void NodeLattice::setGoalHeadingMode(const GoalHeadingMode & goal_heading_mode)
+void NodeLattice::setGoalHeadingMode(const GoalHeadingMode & current_goal_heading_mode)
 {
-  current_goal_heading_mode = goal_heading_mode;
+  goal_heading_mode = current_goal_heading_mode;
 }
 
 }  // namespace nav2_smac_planner