diff --git a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
index efe0995..d89ce1e 100644
--- a/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
+++ b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
@@ -65,7 +65,7 @@ public:
 
   bool isRobotProgramRunning() const;
 
-  void handleRobotProgramStop(bool program_running);
+  void handleRobotProgramState(bool program_running);
 
 protected:
   /*!
diff --git a/ur_rtde_driver/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
index 0bc19e0..8a7fbbe 100644
--- a/ur_rtde_driver/src/ros/hardware_interface.cpp
+++ b/ur_rtde_driver/src/ros/hardware_interface.cpp
@@ -68,7 +68,7 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
 
   ROS_INFO_STREAM("Initializing urdriver");
   ur_driver_.reset(new UrDriver(robot_ip, script_filename, recipe_filename,
-                                std::bind(&HardwareInterface::handleRobotProgramStop, this, std::placeholders::_1)));
+                                std::bind(&HardwareInterface::handleRobotProgramState, this, std::placeholders::_1)));
 
   if (!root_nh.getParam("hardware_interface/joints", joint_names_))
   {
@@ -108,7 +108,6 @@ bool HardwareInterface ::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_h
 
   ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded ur_rtde_driver hardware_interface");
 
-
   return true;
 }
 
@@ -272,7 +271,7 @@ bool HardwareInterface ::isRobotProgramRunning() const
   return robot_program_running_;
 }
 
-void HardwareInterface ::handleRobotProgramStop(bool program_running)
+void HardwareInterface ::handleRobotProgramState(bool program_running)
 {
   robot_program_running_ = program_running;
   std_msgs::Bool msg;