diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h
index f76efe8..614ccb7 100644
--- a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h
+++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h
@@ -710,6 +710,7 @@ protected:
   RotType prefer_rotdir_; //!< Store whether to prefer a specific initial rotation in optimization (might be activated in case the robot oscillates)
   
   // internal objects (memory management owned)
+  nav2_util::LifecycleNode::SharedPtr node_; //!< ROS2 lifecycle node pointer
   TebVisualizationPtr visualization_; //!< Instance of the visualization class
   TimedElasticBand teb_; //!< Actual trajectory object
   RobotFootprintModelPtr robot_model_; //!< Robot model
diff --git a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp
index 5374a92..5d8294b 100644
--- a/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp
+++ b/src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/teb_local_planner_ros.cpp
@@ -200,7 +200,7 @@ void TebLocalPlannerROS::configure(
 
   auto node = std::dynamic_pointer_cast<nav2_util::LifecycleNode>(nh_.lock());
   if (!node) {
-    throw nav2_core::ControllerException(
+    throw nav2_core::PlannerException(
       "Failed to cast controller parent node to nav2_util::LifecycleNode");
   }
   logger_ = node->get_logger();