diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
index 505d283948d55..9e770bd52bbb1 100644
--- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
+++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp
@@ -53,8 +53,8 @@ class PubSubNode : public rclcpp::Node
     pub_ackermann_command_ =
       create_publisher<AckermannControlCommand>("input/ackermann_control_command", rclcpp::QoS{1});
     pub_initialpose_ =
-      create_publisher<PoseWithCovarianceStamped>("/initialpose3d", rclcpp::QoS{1});
-    pub_gear_cmd_ = create_publisher<GearCommand>("/input/gear_command", rclcpp::QoS{1});
+      create_publisher<PoseWithCovarianceStamped>("input/initialpose", rclcpp::QoS{1});
+    pub_gear_cmd_ = create_publisher<GearCommand>("input/gear_command", rclcpp::QoS{1});
   }
 
   rclcpp::Subscription<Odometry>::SharedPtr current_odom_sub_;