diff --git a/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp b/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp
index 7fc176652..9d38f7334 100644
--- a/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp
+++ b/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp
@@ -44,19 +44,21 @@ namespace webots_ros2_driver
     webots::Supervisor *robot() { return mRobot; }
     std::string urdf() const { return mRobotDescription; };
 
+  protected:
+      webots::Supervisor* mRobot;
+      std::string mRobotName;
+      std::string mRobotDescription;
+
+      rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr mClient;
+      void setAnotherNodeParameter(std::string anotherNodeName, std::string parameterName, std::string parameterValue);
+
   private:
     void timerCallback();
     std::unordered_map<std::string, std::string> getDeviceRosProperties(const std::string &name) const;
     std::unordered_map<std::string, std::string> getPluginProperties(tinyxml2::XMLElement *pluginElement) const;
-    void setAnotherNodeParameter(std::string anotherNodeName, std::string parameterName, std::string parameterValue);
-    rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr mClient;
-
-    std::string mRobotName;
-    std::string mRobotDescription;
 
-    rclcpp::TimerBase::SharedPtr mTimer;
     int mStep;
-    webots::Supervisor *mRobot;
+    rclcpp::TimerBase::SharedPtr mTimer;
     std::vector<std::shared_ptr<PluginInterface>> mPlugins;
     pluginlib::ClassLoader<PluginInterface> mPluginLoader;
     tinyxml2::XMLElement *mWebotsXMLElement;