diff --git a/rtabmap_odom/include/rtabmap_odom/OdometryROS.h b/rtabmap_odom/include/rtabmap_odom/OdometryROS.h
index ee1d8277e..b42ebbe0c 100644
--- a/rtabmap_odom/include/rtabmap_odom/OdometryROS.h
+++ b/rtabmap_odom/include/rtabmap_odom/OdometryROS.h
@@ -155,19 +155,12 @@ class OdometryROS : public rclcpp::Node, public UThread
 	rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imuSub_;
 	rclcpp::CallbackGroup::SharedPtr imuCallbackGroup_;
 
-	UMutex dataMutex_;	
-	UMutex imuMutex_;
-	USemaphore dataReady_;
-
-	rtabmap::SensorData dataToProcess_;
-	std_msgs::msg::Header dataHeaderToProcess_;
-
 	// Safe-threading
 	UMutex imuMutex_;
 	UMutex dataMutex_;	
 	USemaphore dataReady_;
 	rtabmap::SensorData dataToProcess_;
-	std_msgs::Header dataHeaderToProcess_;
+	std_msgs::msg::Header dataHeaderToProcess_;
 
 	bool paused_;
 	int resetCountdown_;
diff --git a/rtabmap_odom/src/OdometryROS.cpp b/rtabmap_odom/src/OdometryROS.cpp
index 6a030c2c7..caa436a42 100644
--- a/rtabmap_odom/src/OdometryROS.cpp
+++ b/rtabmap_odom/src/OdometryROS.cpp
@@ -1113,7 +1113,7 @@ void OdometryROS::reset(const Transform & pose)
 	resetCurrentCount_ = resetCountdown_;
 	imuProcessed_ = false;
 	dataToProcess_ = SensorData();
-	dataHeaderToProcess_ = std_msgs::Header();
+	dataHeaderToProcess_ = std_msgs::msg::Header();
 	imuMutex_.lock();
 	imus_.clear();
 	imuMutex_.unlock();